Measurement error analysis of binocular stereo vision: effective guidelines for bionic eyes

The depth measurement error of bionic eyes consisting of two active cameras is derived by considering the eyes' rotation angle errors and image feature extraction errors. The effect factors of the depth measurement are obtained from the calculation formula of depth error. Based on the analysis of these effect factors, some effective guidelines for bionic eyes are proposed to reduce the measurement errors. The guidelines suggest keeping long baseline, observing the target as nearly as possible, controlling two active cameras with the same angular velocity and keeping the target on Z(w) axis if possible. The simulation experiments and practical experiments in bionic eyes platform validate the effectiveness of the proposed guidelines.