基于机器人的对接位姿视觉测量系统标定研究

Research on Calibration of Pose Vision Measurement System Based on Robot

针对传统的相机内参矩阵和相机位置参数标定方法较为繁琐复杂且与相机内参标定互相割裂的痛点,本文设计了一种基于机器人的对接位姿视觉测量系统标定方法,利用采集得到的不同位姿关系下标定板图像以及对应的末端机器人末端执行器位姿数据,解算视觉位姿测量过程中涉及到的不同坐标系间位姿转换关系,一次性完成相机内参标定和相机位置参数标定。本文方法可以为类似视觉位姿测量中视觉测量单元的标定提供参考。

The traditional methods of calibrating the camera internal parameter matrix and camera position parameters are complicated and separate from each other.To solve this problem,this paper designs a robot-based visual measurement system calibration method,which can complete the calibration of the camera internal parameters and the calibration of the camera position parameters at one time with using calibration board image and robot end-effector pose data under different pose relationship.The method in this paper can provide a reference for the calibration of visual measurement unit in similar visual pose measurement.