十字线结构光视觉传感器的标定方法研究

Research on Calibration Method of the Cross Structured Light Sensor

基于结构光三维视觉测量原理,搭建了一套非接触式的十字线结构光视觉传感器。为获取投影光条上采样点的三维空间坐标,建立了该传感器的数学模型,研究了其结构参数的标定方法。应用张正友标定法和棋盘格标定板完成了传感器结构参数的标定,确立了被测点的图像坐标与其空间三维坐标之间的映射关系,并进行了试验验证。试验结果表明,标定结果可以使传感器实现预定的三维测量功能,对飞机蒙皮钻孔点位法矢的重复性检测精度可以满足使用要求。

According to the principle of 3D vision measurement based on structured light,a non⁃contact cross structured light sensor was established.In order to derive the 3D coordinates of the sample points on the projection strips,the mathematical model of the sensor was set up and the calibration method of its structural parameters was studied.Using a checkerboard and the camera calibration method proposed by Zhang Zhengyou,the structural parameters of the sensor were calibrated and then verified by measuring experiments,in which the mapping relationship between the 2D image coordinates and the 3D world coordinates of the measured target was determined.As the experimental results showed,the calibration results derived by the method proposed could ensure the realization of the intended 3D measurement function of the sensor and the repeatability accuracy of the normal vector at the drilling position of aircraft surface could meet the inspecting requirements.