A Novel Mirrored Binocular Vision Sensor Based on Spherical Catadioptric Mirrors

The binocular vision sensor composed of dual cameras is difficult to meet the requirements of synchronous image acquisition in dynamic high-speed measurement, and mirrored binocular vision sensor (MBVS) composed of single camera and catadioptric components have become popular among machine vision applications. Existing mirrored binocular vision sensors mostly comprise planar mirrors, which has the disadvantage of a small field-of-view (FOV). To extend the measurement range of the MBVS, we proposed a novel MBVS based on spherical catadioptric mirrors. The novel MBVS consists of a single camera and double spherical mirrors. The mathematical formula of the FOV of the MBVS is deduced, and the imaging light path is simulated. Then, the structural parameters of the sensor are calculated and a MBVS with a single camera and double spherical mirrors are designed. In order to preliminarily realize the distortion correction of spherical reflection imaging, the mathematical model of the MBVS is constructed. The accuracy of the calibration before and after spherical distortion correction is compared. Experimental results demonstrate the feasibility of the designed MBVS, which can extend the measurement range of the sensor.