便携式组合测量系统坐标统一的标定方法

Calibration method of unifying the coordinates for portable combined measuring system

针对便携式结构光测量系统和光学三坐标测量系统的测量坐标系的全局统一问题,提出了一种基于手眼标定模型的标定方法。利用在全局坐标系下固定的平面标靶以及与便携式结构光测量系统具有刚性约束关系的主动光立体标靶作为中介坐标系,分别估计便携式结构光测量系统与平面标靶的位姿参数以及光学三坐标测量系统与主动光立体标靶之间的位姿参数,然后基于手眼标定模型标定出主动光立体标靶与便携式结构光测量系统之间的刚性位姿关系,进而完成便携式结构光测量系统和光学三坐标测量系统的坐标统一。实验结果表明,本文方法标定结果相对误差标准差约为0.151mm,标定精度合理有效,可以实现便携式组合测量系统坐标统一的快速标定。

In order to unify the measuring coordinates between portable structured light measuring system and optical three-coordinate measuring system, a global calibration method based on eye- to-hand model is proposed in this paper. A planar target fixed to the global measuring system and a stereo target with ac- tive light fixed rigidly to the portable structured light measuring system are using as intermediate coordi- nates. Firstly, the pose parameters between planar target and portable structured light measuring system and between stereo target and optical three coordinate measuring system are estimated. Secondly, the pose parameter between stereo target and portable structured light measuring system is computed based on the eye-to-hand model. Consequently, the measuring coordinate systems between portable structured light measuring system and optical three coordinate measuring system is unified globally. The experimen- tal results show that the error standard deviation of calibration results is about 0. 151 mm and the accu- racy of results is reasonable and efficient. Therefore, it verifies that the calibration method proposed in this paper is efficient, fast and well suited to the calibration work of unifying the coordinates for portable combined measuring system.