A Ring-Structured Light Epipolar Matching and Pipe Measurement Method Based on Face-to-Face Mirror Binocular Vision

To address the challenges of large epipolar line matching errors and limited measurement accuracy in traditional dual camera-based binocular vision (DC-BV) systems for ring-structured light pipe measurement, this paper proposes a novel epipolar line matching and pipe measurement method based on face-to-face mirror binocular vision (F2F-MBV). By employing a single camera and a planar mirror to form a F2F-MBV structure, the proposed system centralizes the epipole locations in stereo images, resulting in a radial distribution of epipolar lines centered at the epipoles. This configuration ensures that any structured light stripe point can efficiently and uniquely locate its corresponding match along the epipolar line, thereby overcoming the matching difficulties inherent in traditional DC-BV systems when applied to ring-structured light configurations. To validate the effectiveness of the proposed method, both simulation and physical experiments were conducted and compared with existing pipe measurement approaches. Experimental results demonstrate that the proposed method significantly reduces the epipolar matching error of structured light features and substantially improves the accuracy of pipe measurement.