面向装配定位的大视场测量系统组合标定方法

Combined Calibration Method of Large Field of View Measurement System for Assembly Positioning

针对航天大部件装配中的定位过程,为解决所使用的视觉系统标定方法复杂、标定精度低的问题,提出一种平面靶标和一维靶标组合的双目视觉系统标定方法。该方法结合单应性变换原理,利用小型平面靶标进行组合标定视觉系统内参,将内参作为输入,利用一维编码靶标标定视觉系统外参,在保证内外参数标定精度的基础上,大大简化双目视觉系统实际使用过程中的标定步骤,能够有效提高标定效率。实际标定实验结果表明,双目视觉系统标定精度可达0.08mm,获得相机内参后可对外参进行在线标定,标定精度和效率均较高。

A binocular vision system calibration method based on the combination of plane target and one-dimensional target is proposed in this paper for the problems of complex calibration method and low calibration accuracy in the positioning process of aerospace large parts assembly.This method combines the small plane target to calibrate internal parameters of vision system,based on the homography transform principle and taking the internal parameters as the input data,uses one-dimensional coding target to calibrate external parameters of vision system.On the basis of ensuring the calibration accuracy of internal and external parameters,it greatly simplifies the calibration steps in the actual use of binocular vision system,and can effectively improve the calibration efficiency.The experimental results show that the calibration accuracy of the binocular vision system can reach 0.08 mm.After obtaining the internal parameters of the camera,the external parameters can be calibrated online,thus the calibration accuracy and efficiency are both high.