本文提出了一种简单、实用, 基于人工复眼成像的三维定位系统, 给出了人工复眼系统高精度定位机理, 建立了人工复眼成像三维定位系统设计方法。系统采用平面阵列相机作为系统成像主体结构, 每个子相机作为复眼的子眼, 子眼以正四边形阵稀疏方式排布, 采用平行光轴设计, 构造出稳定可靠的光学结构, 使计算结果更为精确。通过多重方向视差关系得出几何约束条件, 采用多方向性、选择性立体匹配算法, 建立计算模型, 实现高精度定位。制备了 1套子相机数目为 9的原理样机, 完成了三维定位测试实验, 实验获得定位精度为 2.53×10-4 rad。

A simple and practical three-dimensional orientation system is presented based on image formation of planar artificial compound eye. The principle of high-precision orientation with artificial compound eye was given and a design method for the three-dimensional orientation system was proposed. Planar camera array was taken as the structure of the imaging system. Sub-cameras ranged to be a square as sub-eyes of the compound eye. Simple and stable optical geometry were produced by camera array and parallel optical axis arranging, which make the results more accurate. Geometric constraints were brought by multiple directional parallaxes. The calculating model was built by multi-directional and selective stereo matching arithmetic to realize high-precision orientation. A nine-camera sample system was fabricated for testing experiments. The positioning accuracy of the experiment is 2.53e-4 rad.