基于激光传感的料堆体积测量在线标定方法

On-Line Calibration Method of Stockpile Volume Measurement Based on Laser Sensors

为提高激光传感三维测量系统的测量效率和系统适应性,提出一种基于结构化参数的激光三维测量系统的在线标定方法。该方法通过对已知参数的结构化标定板进行扫描和测量,分别建立其在激光扫描器坐标系和惯性测量传感器坐标系内的模型,提取被扫描面上的直线特征,利用结构参数约束条件解算出相对位姿关系。在不同工况下进行在线标定测量实验,标定出系统初值并进行实物测量和实验分析,在线测量的平均相对误差小于0.9%,实验结果表明提出的标定测量方法具有较高的准确性和适应性。

In order to enhance the precision of the three-dimensional （3D） measurement system based on the laser sensors, an on-line calibration process based on structure parameter is proposed in this content. In this method, the structure object with known parameters is measured by the laser scanner, with its model being established within the laser scanner coordinate system and inertial measurement sensor coordinate system separately, and the linear feature on the scanned plane being extracted, then the relative position and orientation relationship is calculated with the constraint conditions of the structure parameters. The initial value calibration experiment is conducted on the 3D measurement system, then the initial values is used to conduct on-line calibration experiment, and the average relative error of measurement is below 0.9%, which means the calibration and measurement method is accurate and can adapt to different work conditions.