超大尺度线结构光传感器内外参数同时标定

Simultaneous Calibration of the Intrinsic and Extrinsic Parameters of Ultra-Large-Scale Line Structured-Light Sensor

为实现大型自由曲面工件的高精度快速三维测量,设计了一种由超大尺度结构光传感器和两轴导轨构成的三维测量系统。结构光传感器在两轴导轨的带动下获取图像,通过计算得到目标工件的三维坐标。为了将二维图像坐标转换到三维相机坐标,提出一种线结构光传感器内外参数同时标定的方法。该方法使用准一维靶标进行标定,通过获取运动机构平移过程中靶标与激光光条的图像,计算得到线结构光传感器内外参数。实验结果表明,该标定结果可靠,系统的测量误差在0.6mm以内,满足设计需求。标定过程操作简便,靶标制作简单,适合于工业现场标定使用。

A kind of three-dimensional measurement system consisting of an ultra-large-scale line structured-tight sensor and a two-axis guide rail is designed to realize the high-accuracy rapid three-dimensional measurement of large-scale free-form surface workpiece. The structured-light sensor acquires the image driven by the two-axis guide rail, and obtains the three-dimensional coordinates of the target workpiece by calculation. A novel approach for simultaneous calibration of the intrinsic and extrinsic parameters of ultra-large-scale line structured-light sensor is proposed to transform two-dimensional image coordinate to three-dimensional camera coordinate. The method calibrates the quasi-one-dimensional target, and calctdates the intrinsic and extrinsic parameters of line structured- light sensor with the obtained images of target and laser light during translation. Experimental result shows that the calibration results are reliable and the system measurement error is within 0.6 mm, which meets the design requirement. The calibration process is simple, easy to make target, and suitable for the industrial field calibration.