摘要
针对线结构光传感器标定过程中需要特定标靶、实时计算标靶与世界坐标系的相对位置等问题,提出了一种基于单应性矩阵的线结构光传感器标定方法。利用线结构光传感器对应光平面在双目立体视觉系统中单应性矩阵的唯一性,通过标定光平面对应单应性矩阵的方式,完成激光条纹在左右视图中的匹配,通过双目视差原理获取激光条纹的三维空间坐标。测试了利用单应性矩阵标定线结构光传感器的正确性、稳定性及实时标定的可行性。实验结果表明:提出的标定方法不需要标靶辅助,标定过程简单、稳定性良好,可实现线结构光传感器的实时标定。
Aiming at problem that calibration of line structured light sensor requires a specific target and calculate relative position of the target and world coordinate system in realtime,a method for line structured light sensor calibration based on homography matrix is proposed. Use uniqueness of line structured light sensor corresponding to homography matrix by calibrating light plane corresponding to homography matrix to mode for matching of the laser stripes in left-right view,and through binocular parallax principle to obtain the three-dimensional spatial coordinates of laser stripes. Correctness,stability and feasibility of calibrating of using homography matrix to calibrate line structured light sensor are tested. Experimental results show that the calibration method does not require target assistance,calibration process is simple,stability is good,and the line structure light sensor can be calibrated in real-time.
作者
贾华宇
崔海华
程筱胜
李想
姜涛
JIA Hua-yu, CUI Hai-hua, CHENG Xiao-sheng, LI Xiang, JIANG Tao(College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)
出处
《传感器与微系统》
CSCD
2018年第9期148-150,154,共4页
Transducer and Microsystem Technologies
基金
江苏省科技支撑计划资助项目(BE2014009-3)
国家基础科研基金资助项目(0105092)
关键词
线结构光
单应性矩阵
立体视觉
标定
line structured light
homography matrix
stereo vision
calibration
