用于结构光视觉传感器标定的特征点获取方法

Constructing Method of Feature Points Used for Calibrating Structured Light Vision Sensor

提出了一种基于共面参照物自由移动来获取结构光视觉传感器标定特征点的新方法。该方法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,得到位于光平面上的非共线标定特征点的三维世界坐标。该方法降低了标定设备的成本,简化了结构光视觉传感器的标定过程,从而提高了结构光视觉传感器工程化应用的便捷性。实验表明。

A novel method to construct non-collinear feature points used for calibrating structured light vision sensor with coplanar reference object is proposed. After the coplanar reference object is moved freely in the range of measuring of the sensor at least twice, all the local world coordinates of the feature points lying on the light plane can be readily obtained on site. The global world coordinates of the non-collinear feature points in the local world coordinate frame can be computed through the three dimensional camera coordinate frame. The proposed approach greatly reduces the cost of the calibration equipment and simplifies the calibrating procedure, so it can promote the engineering application of the structured light vision sensor handily. This method is practical in the vision inspection application by experiments.