Modeling and Calibration of a Galvanometer-Camera Imaging System

The galvanometer-camera imaging system (GCIS), which mainly consists of a galvanometer and a camera, can drastically enlarge the field of view without decreasing imaging resolution by quickly switching viewing directions. However, the lack of adequate imaging model has hindered GCIS from being used to 3-D vision tasks with accuracy requirements, such as 3-D reconstruction and 6-D pose estimation. A nonphysical parameter imaging model is proposed, which quantitatively depicts the relation among the input parameters of the galvanometer, the imaging position of a 3-D point on the camera image plane, and the equation of the corresponding incoming ray. An ingenious method is put forward to calibrate the proposed imaging model. The GCIS with calibrated imaging model has much enlarged applicability. As an example, the method for object pose estimation by using the calibrated GCIS is presented and verified. Experimental results demonstrate the effectiveness and high performance of the proposed whole set of methods.