基于RANSAC的便携式激光扫描测量臂手眼标定方法

便携式测量臂和激光扫描测头手眼关系的确定是便携式激光扫描测量臂系统中的关键问题。针对测量臂末端相对运动旋转轴之间的夹角和测量臂与扫描测头相对运动的旋转角差值这两个影响手眼标定精度的因素，设定激光扫描测量臂标定数据筛选原则，提出一种基于随机采样一致性的自适应阈值手眼标定算法。蒙特卡洛仿真实验和激光扫描测量臂实测实验结果表明，提出的算法对四元数方法求解的相对旋转轴和平移向量误差标准差精度分别提高了2.42%，4.14%，可以满足便携式激光扫描测量臂系统的测量精度要求。

Method of hand-eye calibration based on RANSAC for portable laser scanning measuring arm

The connection relation between laser scanning measuring arm and laser scanning probe is the most critical item among the portable laser scanning measuring arm system. The paper proposes a method based on RANSAC that builds a data selection mechanism to weaken the effections of the angle consisted by two moving steps of rotation axis, which represent the laser scanning measuring arm’s moving. The results of the Monte Carlo simulation analysis and real data experiments indicate that accuracy of the rotation axis and the translation vector are improved by 2.42%, 4.14% respectively for the quaternion which meets the accuracy requirement of the portable laser scanning measuring arm system appropriately.