基于RANSAC的便携式激光扫描测量臂手眼标定方法
发布时间：2018-11-13 11:28
【摘要】：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。
[Abstract]:The determination of the relationship between the portable measuring arm and the hand-eye of the laser scanning probe is a key problem in the portable laser scanning measuring arm system. Aiming at the two factors which affect the precision of hand-eye calibration, the angle between the measuring arm and the scanning probe and the difference of the angle between the measuring arm and the scanning probe, the calibration data screening principle of laser scanning arm is set up. An adaptive hand-eye calibration algorithm based on random sampling consistency is proposed. The results of Monte Carlo simulation experiment and laser scanning measuring arm experiment show that the accuracy of the error standard deviation of relative rotation axis and translation vector solved by the proposed algorithm is improved by 2.42 and 4.14, respectively. It can meet the precision requirement of portable laser scanning measuring arm system.
【作者单位】： 北京信息科技大学光电测试技术北京市重点实验室;北京邮电大学信息光子学与光通信研究院;
【基金】：国家重大科学仪器设备开发专项(No.2013YQ22089304) 光电测试技术北京市重点实验室开放课题(No.GDKF2016005)
【分类号】：TN249
[Abstract]:The determination of the relationship between the portable measuring arm and the hand-eye of the laser scanning probe is a key problem in the portable laser scanning measuring arm system. Aiming at the two factors which affect the precision of hand-eye calibration, the angle between the measuring arm and the scanning probe and the difference of the angle between the measuring arm and the scanning probe, the calibration data screening principle of laser scanning arm is set up. An adaptive hand-eye calibration algorithm based on random sampling consistency is proposed. The results of Monte Carlo simulation experiment and laser scanning measuring arm experiment show that the accuracy of the error standard deviation of relative rotation axis and translation vector solved by the proposed algorithm is improved by 2.42 and 4.14, respectively. It can meet the precision requirement of portable laser scanning measuring arm system.
【作者单位】： 北京信息科技大学光电测试技术北京市重点实验室;北京邮电大学信息光子学与光通信研究院;
【基金】：国家重大科学仪器设备开发专项(No.2013YQ22089304) 光电测试技术北京市重点实验室开放课题(No.GDKF2016005)
【分类号】：TN249
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