[Retracted] Robot Obstacle Recognition and Target Tracking Based on Binocular Vision

Table 4

Results of binocular calibration.

	Parameters	Results of binocular calibration
		Left camera	Right camera
Camera intrinsic parameters	f x	2558.685	556.4126
	f y	2556.491	557.5483
	C x	1020.17	1021.959
	C y	856.3736	857.8058
	K 1	−0.05144	0.08049
	K 2	0.11352	0.548
		−0.0039	0.00314
	P2	−0.00307	0.00325
	K 3	0	0
	Average error	0.16866	0.16327
External parameters	R	[−001944 −0.01157 −0.0165801]
	T	[−150.95861 −0.00125 0.00208]