Inclination measurement using a luminance change.
Yoshihiko Nomura, Michihiro Sagara, Hiroshi NARUSE · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 1988
An inclination measurement method of a TV camera against a wall plane is studied by applying a photometric stereo system. In this system, the TV camera, which is used for the vision of a robot, and a light source are rotated together. The luminance of the surface with various smoothnesses is analyzed in relation to the rotation angle, and it is presented that the inclination is obtained by fitting the data of the luminance and the rotation angle to a curve of secondary degree. Then, a random error is formularized, and is shown to be inverse to the rotation angle. Furthermore, measurement accuracy is given as 1.5° by experiments using a screen and a concrete wall.