隨著計算機視覺的發展，雙目立體視覺（BSV）系統已廣泛應用於機器人或自動駕駛的各個領域。然而，現有的 BSV 系統缺乏參數優化和 ROI 固定的問題，導致定位精度在某些應用中仍不能完全滿足。而本文提出了一種可改變雙目相機的姿態，讓 BSV 系統能在最佳的條件下進行定位並提高定位精度，此系統稱為My Eyes System (MyE)。這是通過改良一般的 BSV 系統和分析系統的參數、定位公式和誤差來實現的。這些參數和公式可以分為機構誤差參數和系統結構參數（SSP）的補償公式。對於機構誤差，定義了一組誤差參數和因組裝誤差導致的偏移參數。另外提出了一種誤差分析模型來解釋由誤差參數引起的定位誤差。另一方面，對於 SSP，透過補償參數和分析定位公式，讓此系統在任一角度都可以達到精確的定位。最後，在驗證方面，為了比較相機參數和定位精度，進行了大量的實驗，證明了本研究提出的方法的有效性。將 Matlab 校正後的參數數據與本研究平台進行相機參數對比。此外，使用市售的雙目相機進行精度比較，用於定位精度的比較。為 BSV 系統在應用光學研究和應用領域的應用提供了有價值的參考。

With the development of computer vision, binocular stereo vision (BSV) systems
have been widely used in various fields of robotics and autonomous driving. However,
the existing BSV systems have the problems of parameter optimization and ROI
fixation, resulting in an unsatisfactory localization accuracy in some applications. In
this paper, a method that can change the attitude of the binocular camera is proposed so that the BSV system can be positioned under the best conditions and improve
positioning accuracy. This system is called the My Eyes System (MyE). This
improvement is achieved by modifying the parameters, positioning formulas, and errors
of the general BSV system and analysis system. These parameters and formulas can be
divided into mechanism error parameters and compensation formulas for system
structural parameters (SSPs). A set of error parameters and offset parameters due to
assembly errors are defined for mechanism errors. In addition, an error analysis model
is proposed to explain the positioning errors caused by the error parameters.
On the other hand, for SSP, by compensating parameters and analyzing the
positioning formula, the system can achieve precise positioning at any angle. Finally,
in terms of verification, extensive experiments are conducted to compare the camera
parameters and localization accuracy to demonstrate the effectiveness of the method
proposed in this study. The parameter data corrected by MATLAB were compared with
the camera parameters of this research platform. In addition, an accuracy comparison
was performed using a commercially available binocular camera for the comparison of
positioning accuracy. It provides a valuable reference for applying the BSV system in
applied optics research and application fields.

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