TOF depth camera three-dimensional coordinate calibration device and method based on virtual multi-cube standard target
A technology of depth camera and three-dimensional coordinates, which is applied in the direction of measuring devices, optical devices, instruments, etc., can solve the problem of high complexity of target recognition and feature extraction, large number of target features, and affecting the accuracy and repeatability of TOF depth camera calibration results And other issues
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Embodiment 1
[0045] (1) Taking the TOF depth camera 4 at a distance of 0.5m, the combination of the X-direction moving translation platform 2 and the Y-direction moving translation platform 3 to carry out 3×3 movement in the XY plane as an example, describe in detail the calibration device introduced in the present invention and Methods as below:
[0046] Such as figure 1 As shown, first determine the TOF depth camera 4 coordinate system OXYZ, the three translation axes of the three-dimensional translation stage are defined as the three directions of X, Y, and Z, the coordinate origin O is positioned as the lens center of the TOF depth camera 4, and the three-dimensional motion translation stage is installed The bottom surface is defined as the XZ plane, which is parallel to the bottom surface of the TOF depth camera 4; the Z direction is the optical axis direction of the TOF depth camera 4, which is parallel to the movement direction of the translation axis of the Z-direction translation ...
Embodiment 2
[0058] Such as figure 1 As shown, the cube target 5 is in the shape of a cuboid whose length, width and height are not completely equal. The other components and working principles of this embodiment are the same as those of Embodiment 1.
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