Research of calibration process and optical characteristics of 3Dberry stereo nozzle

The article is devoted to the research of calibration process of 3Dberry stereo nozzle, as well as to the evaluation of its optical characteristics for solving computer vision problems: in particular, 3D modeling tasks and range finding. The review of the main methods of 3D modeling with the use of optical technologies as well as the review of flat-mirror catadioptric systems are presented; the advantage of the use of stereo nozzles in front of other technologies is shown. Methodology of the research consists in a computer experiment using real images that were obtained with the use of stereo nozzle. The results of calibration of the stereo nozzle with the use of third-party and own software are given. During the experiments, a mathematical model of a stereo camera was selected, which allows to achieve the best results of calibration. The optical characteristics of a stereo rig consisting of a monocular camera and a stereo nozzle are calculated. The obtained results can be used in the creation and research of computer vision systems for robotic complexes. (In Russian).