摘要
为实现对线结构光的高精度标定,提出一种新的基于二维平面靶标的线结构光标定算法。首先拟合图像坐标系下光条直线方程,通过图像坐标系与相机坐标系的转换关系求解相机坐标系下在图像中的光条直线方程;求解过相机坐标系原点与此直线所确定的平面方程,之后确定二维靶标平面在相机坐标系下的平面方程,此两平面的交线即为标定板上的光条直线在相机坐标系下的方程;每幅标定板图像均做以上处理,通过最终提取出的多组光条中心线拟合激光平面方程。实验表明,在一般的实验环境下,此算法弥补了以往算法的标定点少的缺陷,具有高精度和操作简便的优点,最大差值为0.006 mm。
To achieve high-precision calibration of line structured light, a new line structure cursor calibration algorithm based on two-dimensional planar target is proposed. First of all, the light bar straight line equation in the image coordinate system is fitted. The light bar straight line equation in the image of the camera coordinate system is solved by transforming relationship between the image coordinate system and the camera coordinate system. The plane equation determined by the origin of the camera coordinate system and the straight line is solved. Then, the plane equation of the two-dimensional target plane is determined. The intersection of two planes is the equation of the light bar straight line on the calibration plate of the camera coordinate system. Each calibration board image is processed as above. The laser plane equation is fitted by the finally extracted multiple groups of light bar centerlines. In the general environment, experimental results show that this algorithm can make up for the shortcomings of the existing algorithms with fewer calibration points. It has advantages of high accuracy and easy operation. The maximum difference is 0.006 mm.
作者
于龙龙
李艳文
栾英宝
陈子明
李赫
Yu Longlong;Li Yanwen;Luan Yingbao;Chen Ziming;Li He(College of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China;Hebei Provincial Laboratory of Parallel Robots and Mechatronic Systems and Key Laboratory of Advanced Forging Technology and Science Ministry of Education,Qinhuangdao 066004,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2020年第6期124-131,共8页
Chinese Journal of Scientific Instrument
基金
河北省科技计划重点项目(19221909D)
国家自然科学基金(51775474)项目资助
关键词
线结构光
标定
二维靶标
坐标变换
line structured light
calibration
two-dimensional target
coordinate transformation
