摘要
建立了线结构光视觉传感器的数学模型,提出了一种基于共面标定参照物的线结构光视觉传感器的现场标定方法。该方法允许共面标定参照物在测量空间内自由移动,通过以摄像机三维坐标系为中介,将多个局部世界坐标系下的标定特征点统一到全局世界坐标系中,利用构建的标定特征点在现场对线结构光视觉传感器进行标定,因此可以保证线结构光视觉传感器的标定状态与测量状态完全一致。该标定方法降低了标定设备的成本,简化了标定过程,提高了线结构光视觉传感器工程化应用的便捷性。试验结果表明,该方法切实可行。
The mathematical model of the line structured light
vision sensor is established. A novel calibration method to
determine all the primitive parameters of the line structured
light vision sensor with coplanar reference object is proposed.
Without striction to the moving of the calibration reference
object, all the parameters can be readily calibrated on site with
the calibrated feature points lying on more than 2 local world
coordinate frames respectively.The global world coordinates of
the calibration feature points in the local world coordinate
frame can be computed through the three dimensional camera
coordinate frame. Therefore, it is guaranteed that the calibration
state is identical to the work state of the line structured light
vision sensor.The proposed approach greatly reduces the cost
of the calibration equipment and simplifies the calibrating
procedure, so it can promote the engineerig applications of the
line structured light vision sensor handily.It shows that this
method is practical in the vision inspection applications by
experiments.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2004年第6期169-173,共5页
Journal of Mechanical Engineering
基金
国家杰出青年科学基金(50125518)
关键词
结构光
共面标定参照物
现场标定
视觉检测
Structured light
Coplanar reference Object
Field calibration
Vision inspection
