Automated Simultaneous Calibration of a Multi-View Laser Stripe Profiler
Automated Simultaneous Calibration of a Multi-View Laser Stripe Profiler
复制标题
多视图激光条纹轮廓仪的自动同步校准
DOI：
10.1109/robot.2005.1570801
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
G. Biegelbauer
中科院分区：
文献类型：
--
作者：
Wolfgang Stöcher;G. Biegelbauer
我们提出了增强现有的校准方法，允许在工业环境中的激光条纹轮廓仪的自动校准。第一个也是最重要的改进是校准对象的新设计。基本上，它是一个立方体的“线框模型”，边缘只是标准的铝型材。这允许在不需要强度信息的情况下以简单且鲁棒的方式建立点对应。此外，这种中空类型的校准物体允许同时进行多视图校准，因为可以从许多方向看到六个不同平面的足够的点。如果进行粗略校准（基于± 50%精度的粗略测量），扫描点可以自动分配到校准对象的各个平面。其次，提出了一种新的求解激光条纹轮廓仪线性模型的方法。通过首先求解与相机无关的几何形状，这些值可以在多个视图上平均，这进一步减少了点云的局部偏移，因此增强了后续操作的输出，如在组合的校准点云上的网格生成。文中详细介绍了标定物的设计和标定方法，并给出了模拟和真实的靶场数据的实验结果。工业实用性已经在具有四个摄像机的传感器单元中在包括校准对象的适度振荡的真实世界条件下被证明。
We present enhancements of existing calibration methods that allow the automated calibration of a laser stripe profiler in an industrial environment. The first and most important enhancement is a new design of the calibration object. Basically it is a “wire-frame model” of a cube, where the edges are simply standard aluminium profiles. This allows establishing point correspondences in a simple and robust way without the need of intensity information. Furthermore this hollow kind of a calibration object allows simultaneous multi-view calibration since enough points of six different planes can be seen from many directions. Given a rough calibration (based on rough measurements with ± 50% accuracy) the scanned points can be automatically allocated to the respective planes of the calibration object. Secondly we propose a new way of solving the linear model of a laser stripe profiler. By firstly solving the camera-independent geometry these values can be averaged over the multiple views, which further reduces the local offsets of point clouds and therefore enhances the output of subsequent operations like mesh generation on the combined calibrated point cloud. The paper describes the design of the calibration object and the calibration method in detail and presents experimental results on simulated and real range data sets. The industrial applicability has been demonstrated in a sensor cell with four cameras under real-world conditions including moderate oscillations of the calibration object.
DOI：
10.1109/jra.1987.1087109
发表时间：
1987-08-01
期刊：
IEEE JOURNAL OF ROBOTICS AND AUTOMATION
影响因子：
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作者：
TSAI, RY
通讯作者：
TSAI, RY