便携式组合测量系统坐标统一的标定方法

针对便携式结构光测量系统和光学三 坐标测量系统的测量坐标系的全局统一问题,提出了一种基于手眼标定模型的标定方法 。利用 在全局坐标系下固定的平面标靶以及与便携式结构光测量系统具有刚性约束关系的 主动光立体标 靶作为中介坐标系,分别估计便携式结构光测量系统与平面标靶的位姿参数以及光学三 坐标测量系统 与主动光立体标靶之间的位姿参数,然后基于手眼标定模型标定出主动光立体标靶与便携式 结构光测量系 统之间的刚性位姿关系,进而完成便携式结构光测量系统和光学三坐标测量系统的坐标统一 。实验结果表 明,本文方法标定结果相对误差标准差约为0.151mm,标定精度合理 有效,可以实现便携式组合测量系统坐标统一的快速标定。

Calibration method of unifying the coordinates for portable combined measuring system

In order to unify the measuring coordinates between portable structured light measuring system and optical three- coordinate measuring system,a global calibration method based on eye-to-hand model is proposed in this paper.A planar target fixed to the global measuring system and a stereo target with acti ve light fixed rigidly to the portable structured light measuring system are using as intermediate coordinates.Firstly ,the pose parameters between planar target and portable structured light measuring system and between stereo target and optical three coordinate measuring system are estimated.Secondly,the pose parame ter between stereo target and portable structured light measuring system is computed based on the eye-to-hand model.Consequentl y,the measuring coordinate systems between portable structured light measuring system and optical three coo rdinate measuring system is unified globally.The experimental results show that the error standard deviation of cali bration results is about 0.151mm and the accuracy of results is reasonable and efficient.Therefore,it verifies that the calibration method proposed in this paper is efficient,fast and well suited to the calibration work of unifying the coordinates for portable combined measuring system.