Full-automatic calibration method for structured light hand-eye three-dimensional measuring system

A technology of three-dimensional measurement and system calibration, applied in the direction of measuring devices, optical devices, instruments, etc., can solve the problems of complex calibration process and high dependence on target accuracy, and achieve the effect of simple calibration method and easy feature selection

Inactive Publication Date: 2015-05-13
HUAIYIN INSTITUTE OF TECHNOLOGY
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Problems solved by technology

[0005] In view of the high dependence of the calibration accuracy on the target accuracy and the complexity of the calibration process existing in the existing calibration

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  • Full-automatic calibration method for structured light hand-eye three-dimensional measuring system
  • Full-automatic calibration method for structured light hand-eye three-dimensional measuring system
  • Full-automatic calibration method for structured light hand-eye three-dimensional measuring system

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Embodiment Construction

[0016] In order to make the object, technical solution and advantages of the present invention clearer, the following is the specific implementation process, and with reference to the accompanying drawings, the present invention will be further described in detail.

[0017] The basic idea of ​​the present invention is to propose a fully automatic calibration method based on three environmental feature points in view of the high dependence of the calibration accuracy on the target accuracy and the complexity of the calibration process in the existing calibration method of the structured light hand-eye measurement system. figure 1 It is the overall calibration flow chart of the present invention. This calibration method captures images of three environmental feature points in the scene, and calibrates the camera internal parameter K and the rotation part R of the hand-eye matrix by precisely controlling the robot to perform five translational movements; by giving two different po...

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Abstract

The invention discloses a full-automatic calibration method for a structured light hand-eye three-dimensional measuring system. The full-automatic calibration method is designed through deeply analyzing the working principle of a line structured light hand-eye three-dimensional measuring system and is based on three environment feature points and 2 given poses. The calibration method includes that capturing images of three feature points in a scene, and precisely controlling a robot to perform 5 times of translational movement to calibrate intrinsic parameters of a camera and a hand-eye matrix rotating part; giving 2 different poses of the robot, combining with the feature points to form parameter equation information of the plane at different coordinate systems, and calibrating plane equations of a hand-eye matrix translation part and a structured light plane under the coordinate systems of the camera. The calibration method is simple, the feature selection is easy to perform, and the calibration method is important for using the structured light hand-eye three-dimensional measuring system in the actual industrial field.

Description

technical field [0001] The invention relates to a structured light hand-eye three-dimensional measurement system and a calibration method thereof, in particular to a fully automatic calibration method for a structured light hand-eye three-dimensional measurement system composed of line structured light, a camera and a robot. technical background [0002] With the rise and development of computer technology and machine vision, as well as the continuous improvement of industrial automation, traditional measurement technology is far from meeting the needs of modern production. Visual measurement is characterized by its fast speed, high precision, non-contact, high degree of automation, etc. Advantages, play an increasingly important role in the field of non-contact measurement. The key to the application of visual measurement technology is to establish a simple and effective visual measurement system at the industrial site. At present, the structured light three-dimensional mea...

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Application Information

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IPC IPC(8): G01B11/25
Inventor 郭新年白瑞林周红标
Owner HUAIYIN INSTITUTE OF TECHNOLOGY
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