线结构光传感器标定不确定度估计

Estimation of uncertainty in calibrating line structured light sensor

分析了标定样本数据的不确定度对线结构光传感器标定精度的影响,利用矩阵扰动理论和一阶不确定度分析理论,给出线结构光视觉传感器模型中映射矩阵参数不确定度的评估方法,并建立了从标定样本数据不确定度到标定不确定度的传播模型。利用蒙特卡洛统计法进行了仿真验证,结果表明所建立不确定度传播模型的有效性,为线结构光传感器标定精度的评估提供了依据。

The influence of uncertainty of feature points on the calibration accuracy of the line structured light vision sensor was analyzed in the paper. Based on the theory of matrix turbulence and first-order uncertainty analysis, a feasible method for estimating the uncertainty of parameters of homography matrix was proposed, and propagating model of uncertainty from errors of the feature points to the calibration error was established as well. Simulation experiments conducted with Monte Carlo statistic method reveal that the proposed propagating model of uncertainty is valid. Based on the established uncertainty model, one practical error evaluating method can be obtained in calibrating the line structured light vision sensor.