Stereo calibration method for movable vision system

A stereo calibration method of a movable multi-ocular vision system, wherein the movable multi-ocular vision system comprises:

• at least two imaging components, each comprising at least one imaging element capable of capturing consecutive images and having an arbitrary number of motional degrees of freedom, wherein each motional degree of freedom is provided with a position acquisition device capable of acquiring rotation or translation information;
• at least one calculation component capable of calculating and processing information of images and information of movement in each motional degree of freedom;
• at least one control component capable of controlling movement in each motional degree of freedom, and
• wherein the stereo calibration method comprises:
• for each imaging element, placing a calibration template in front of the imaging element;
• driving the imaging element to move in each motional degree of freedom;
• capturing a number of images containing whole of the calibration template by the imaging element and simultaneously recording position information of respective motional degree of freedom when capturing respective images;
• and calculating calibration results for the imaging element and each motional degree of freedom by the calculation component, the calibration results comprising rotation matrix and translation matrix of each rotation axis in respective motional degrees of freedom relative to the imaging element.