摘要
The registration of point cloud is important for large object measurement.A measurement method for coordinate system transformation based on robot is proposed in this paper.Firstly,for obtaining extrinsic parameters,the robot moves to three different positions to capture the images of three targets.Then the transformation matrix X between camera and tool center point(TCP) coordinate systems can be calculated by using the known parameters of robot and the extrinsic parameters,and finally the multi-view coordinate system can be transformed into robot coordinate system by the transformation matrix X.With the help of robot,the multi-view point cloud can be easily transformed into a unified coordinate system.By using robot,the measurement doesn't need any mark.Experimental results show that the method is effective.
基金
supported by the National Natural Science Foundation of China(Nos.60808020 and 61078041)
the National Science and Technology Support Program(No.2014BAH03F01)
the Tianjin Research Program of Application Foundation and Advanced Technology(No.10JCYBJC07200)
the Tianjin Small and Medium Enterprise Innovation Fund(No.12ZXCXGX11800)
the Technology Program of Tianjin Municipal Education Commission(No.20130324)
