手眼相机位姿测量精度理论分析及验证

Theoretical analysis and valication on position-pose measurement accuracy of hand-eye camera

从理论和实验上对手眼相机位姿测量精度进行了研究。首先,根据靶标设计形式和P3P算法介绍位姿测量原理。接着,从理论上分析了位置测量精度和姿态测量精度,即靶标沿X轴平移位置测量精度和靶标绕X轴、Y轴、Z轴旋转测量精度。然后,对通常的检测方法进行分析,提出了以产生相对位姿实现六维自由度变化的检测方法,提出用中误差对测量精度进行评价,并具体介绍了检测方法。最后,对手眼相机测量精度进行了实际检测,将实验数据与理论数据进行了对比分析。实验结果表明:距离测量精度最大为25.60 mm,旋转测量精度最大为1.4°,均满足测量精度的要求。

In order to realize position-pose measurement of hand-eye camera,an measurement accuracy test system was established.Firstly,based on the target design forms and P3 P algorithm,position-pose measurement principle was presented.Sencondly,the position measurement accuracy and pose measurement accuracy were analyzed in theory,i.e.,the translational position measurement accuracy along the X axis of the target and the rotational pose measurement accuracy about the X-axis,Y-axis and Z-axis of the target.Thirdly,the usual test method was presented,a new test way to achieve six degree of freedom by relative position-pose production was proposed.Root mean square error was introduced as an evaluation for measurement accuracy,and the test method was described in detail.Finally,practical test for measurement accuracy of an hand-eye camera was carried out,and the experimental data was compared with the theoretical data.The experimental results indicate that the maximum measurement accuracy for distance is25.60 mm and the maximum measurement accuracy for rotation is 1.4°.It can satisfy the system requirements for accuracy.