多传感器线结构光视觉测量系统全局校准

针对现有多传感器线结构光视觉测量系统全局校准过程中通常需要三维测量设备、校准过程复杂等问题，提出了一种基于一维靶标的多传感器线结构光视觉测量系统全局校准方法。此方法以一维靶标为中介，首先由每个线结构光视觉传感器得到光条与一维靶标相交点在各自测量坐标系下的三维坐标，然后由交比不变性得到相交点在一维靶标坐标系下的坐标，进而...

Global calibration of multi-sensor vision measurement system based on line structured light

A novel global calibration method for the multi-sensor vision measurement system based on the line structured light is proposed to resolve the problem that the ordinary calibration method depends on the external high-precision equipment.The 3D coordinates of the intersection points formed by light stripe and the 1D target can be obtained in each coordinate frame of the line structured light vision sensor.The coordinates in the 1D target coordinate frame can be got by the invariance of the cross ratio,and then the spatial distance between the intersections can be further calculated.The objective function to be optimized involving the parameters of rotation matrix and translation vector can be established based on the condition of the distance restraint between the intersections at different positions.The optimized parameters of the global calibration can be resolved by combining these equations and using the non-linear optimization algorithm.The experimental results show that the RMS error is less than 0.1 mm.