| 面向直线顶管机的双屏视觉标靶标定方法与精度评价 |
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| 引用本文： | 黄喆,燕庆德,李倩,程二静,沈小玲,徐叶倩.面向直线顶管机的双屏视觉标靶标定方法与精度评价[J].红外与激光工程,2022,51(9):20210933-1-20210933-8. |
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| 作者姓名： | 黄喆 燕庆德 李倩 程二静 沈小玲 徐叶倩 |
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| 作者单位： | 1.天津科技大学 电子信息与自动化学院，天津 300222 |
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| 基金项目： | 国家重点研发计划(2019YFB2006100)；天津市自然科学基金(18JCYBJC88600) |
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| 摘 要： | 针对双屏视觉标靶前、后感光成像屏位姿关系难以标定的问题，提出一种基于坐标点云的感光成像屏位姿标定方法。该方法分别将前、后感光成像屏划分为n行n列的网格阵列，通过全站仪测量感光成像屏上每个网格角点的空间三维坐标，并利用工业相机实时获取感光成像屏上每个网格角点的图像二维坐标，结合图像二维坐标和空间三维坐标获得2D-3D映射关系，从而得到坐标点云数据。根据三公共点坐标系转换算法将坐标点云数据中的三维坐标统一到标靶坐标系下，进而确定相机与前、后感光成像屏的位姿关系，再通过网格索引方法对前、后感光成像屏的位姿关系进行求解。为评价标靶位姿测量精度，设计了静态测量重复性精度评定实验和绝对测量精度评定实验。实验结果表明:该标定方法的坐标静态测量重复性精度为0.13 mm、绝对测量精度为0.93 mm；方位角静态测量重复性精度优于0.01°、绝对测量精度优于0.05°。因此，该标定方法可以实现两个空间平面位姿关系的精确标定，且具有操作简便、精度高等特点，可用于双屏视觉标靶的标定。
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| 关 键 词： | 视觉测量 顶管机导向 坐标点云 网格标定 |
| 收稿时间： | 2022-03-20 |
Calibration method and accuracy evaluation of visual target with double screen for straight pipe jacking machine |
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| Affiliation: | 1.School of Electronic Information and Automation, Tianjin University of Science and Technology, Tianjin 300222, China2.Tianjin Samsung Vision Mobile Co., Ltd., Tianjin 300385, China |
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| Abstract: | Aiming at the problem that it was difficult to calibrate the position and attitude relationship between the front and rear photosensitive imaging screens of visual target with dual-screen, a method for calibrating the position and attitude of the photosensitive imaging screen based on points-cloud was proposed. The front and rear photosensitive imaging screens were respectively divided into grid arrays of n rows and n columns. Combining the image 2D coordinates which were obtained in real time by industrial cameras and the spatial 3D coordinates which were measured by a total station to obtain the 2D-3D mapping relationship of each grid corner point on the photosensitive imaging screen, the coordinate point cloud data were acquired. Next, the 3D coordinates of the coordinate point cloud data are converted to the target coordinate frame according to the three common point coordinate frame transformation algorithm, which can determine the positional relationship between the camera and front/rear photosensitive imaging screen. And then the positional relationship between the front and rear photosensitive imaging screens was solved by the grid indexing method. In order to evaluate the accuracy of target attitude measurement, the static repeatability and the absolute measurement accuracy evaluation experiments were designed. The experimental results show that the static repeatability accuracy of the coordinates is 0.13 mm, the absolute accuracy of the coordinates is 0.93 mm, the static repeatability accuracy of the heading angle is 0.01°, and the absolute accuracy of the heading angle is 0.05°. Therefore, the calibration method can realize the accurate calibration of the pose of two spatial planes, which has the characteristics of simple operation and high precision, and can be used for calibration of visual target with double screen. |
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