A simplified method for the extrinsic calibration of structured-light sensors using a single-ball target
A simplified method for the extrinsic calibration of structured-light sensors using a single-ball target
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DOI：
10.1016/j.ijmachtools.2004.03.012
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发表时间：
2004-09-01
影响因子：
14
通讯作者：
Zhang, QM
中科院分区：
文献类型：
--
作者：
Xie, ZX;Zhang, CG;Zhang, QM
本文提出了一种基于单球靶的多轴结构光扫描系统外定标方法。由于结构光传感器的输出是二维数据，因此系统数学模型的建立直接是将二维传感器坐标系（激光平面）转换到笛卡尔世界坐标系，而不是将三维非正交斜坐标系转换到笛卡尔世界坐标系。通过使用传感器测量固定点（球心），识别用于求解该模型的“共轭对”。提出了一种确定激光平面通过球心的坐标测量机扫描轴位置的算法，使该传感器能够进行定点测量。校准程序便于在线使用。实验表明，该变换矩阵的计算精度满足通用要求。(C)2004爱思唯尔有限公司保留所有权利。
In this paper, a sing] e-ball-target-based approach is presented for the extrinsic calibration of a multiple-axis, structured-light scanning system. Since the output of the structured-light sensor is 2D data, the system mathematical model is directly built as the transformation from 2D sensor coordinate system (laser plane) to Cartesian world coordinate system, not 3D non-orthogonal skewed coordinate system to Cartesian world coordinate system. By measuring a fixed point (ball center) using the sensor, "conjugate pairs" are identified for solving this model. An algorithm for determining the position of the CMM scanning axis where the laser plane passes through the ball center is proposed to enable this sensor to measure the fixed point. The calibration procedure facilitates on-line use. Experiments show that the calculation accuracy of the transformation matrix is adequate for common use. (C) 2004 Elsevier Ltd. All rights reserved.