| 基于机器人系统的线结构光视觉传感器标定新方法 |
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| 引用本文： | 林娜,马孜,胡英,赵骥.基于机器人系统的线结构光视觉传感器标定新方法[J].传感器与微系统,2007,26(9):101-103. |
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| 作者姓名： | 林娜 马孜 胡英 赵骥 |
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| 作者单位： | 大连海事大学,自动化研究中心,辽宁,大连,116026 |
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| 摘 要： | 在总结了已有线结构光视觉传感器标定方法的基础上,提出了一种应用机器人系统对线结构光视觉传感器进行标定的新方法。借助于一维光平面对准特殊设计的圆阵列平面标靶,实现对标定特征点的获取,不需要额外对光平面进行标定。在此基础上,还提出以线性化的两步标定方法来求解传感器模型参数,完成了线结构光视觉传感器的标定。该方法操作简单、效率高。实验结果证明:该方法切实可行,测量精度优于0.06mm。
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| 关 键 词： | 线结构光传感器 标定 机器人 特征点 |
| 文章编号： | 1000-9787（2007）09-0101-03 |
| 修稿时间： | 2007-02-14 |
New Method for calibration of line structure-light vision sensor based on robot system |
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| LIN Na,MA Zi,HU Ying,ZHAO Ji.New Method for calibration of line structure-light vision sensor based on robot system[J].Transducer and Microsystem Technology,2007,26(9):101-103. |
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| Authors: | LIN Na MA Zi HU Ying ZHAO Ji |
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| Affiliation: | Automation Research Center, Dalian Maritime University, Dalian 116026, China |
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| Abstract: | Based on the existing methods for calibration, a novel calibration approach of vision sensor with line structure-light based on robot system is proposed. A target plane with dot matrix which is especially designed for light plane alignment provides help for extracting characteristic points without the additional calibration of light plane. Then, a linear two-stage calibration algorithm is put forward for resolving parameter of sensor model, so that, the operation of calibration is simplified and the efficiency is increased. Experiment results show that this method is practical, and the measurement accuracy is better than 0.06 mm. |
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| Keywords: | line structure-light sensor calibration robot characteristic points |
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