基于合作靶球的视觉传感器外参标定方法

发布时间：2018-06-15 04:39

本文选题：机器视觉 + 外参标定　；参考：《光学学报》2017年09期

【摘要】：视觉传感器的外参标定旨在建立视觉坐标系与外部标准坐标系之间的关系。设计了视觉测量合作靶球以实现视觉测量与仪器测量之间的合作测量。通过将视觉测量合作靶球与激光跟踪仪靶镜相互替换获取公共点在视觉坐标系和外部标准坐标系下的坐标,并利用公共点在两坐标系下的坐标对目标函数进行非线性优化,获得视觉传感器外参数最优解。视觉测量合作靶球的设计将靶标、光源和球形外壳相融合,以满足与跟踪仪合作靶镜的互换性和球心可测的需求。对外参标定过程中的误差传递进行了分析,并通过仿真优化标定精度,以及实验验证该标定方法的精度。结果表明,该方法的外参标定精度可达到0.036mm,能够实现直接、灵活、高精度的公共点数据获取。
[Abstract]:The external parameter calibration of the vision sensor aims to establish the relationship between the visual coordinate system and the external standard coordinate system. The cooperative target ball of vision measurement is designed to realize the cooperative measurement between vision measurement and instrument measurement. The coordinates of common points in visual coordinate system and external standard coordinate system are obtained by replacing the cooperative target sphere of vision measurement with the target mirror of laser tracker, and the objective function is nonlinear optimized by using the coordinates of common points in two coordinate systems. The optimal solution of the external parameters of the vision sensor is obtained. In order to meet the interchangeability of the target mirror with the tracker and the measurable center of the ball, the design of the vision measuring cooperative target ball combines the target, the light source and the spherical shell. The error transfer in the calibration process of external parameters is analyzed, and the calibration accuracy is optimized by simulation, and the accuracy of the calibration method is verified by experiments. The results show that the external parameter calibration accuracy of this method can reach 0.036 mm, and can achieve direct, flexible and high precision common point data acquisition.
【作者单位】：天津大学精密测试技术及仪器国家重点实验室;
【基金】：国家自然科学基金(51475329) 国家科技重大专项(2014ZX04001-081-06) 国家重大科学仪器设备开发专项(2013YQ350747)
【分类号】：TP212

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