Laser range finder calibration method for three-dimensional measurement

A technology of a laser rangefinder and a calibration method, which is applied to measurement devices, instruments, etc., can solve the problems of difficult imaging and processing of laser spots.

Pending Publication Date: 2020-11-20
TIANJIN UNIV
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Problems solved by technology

[0004] In order to overcome the technical problem that laser spot is difficult to image and process in the actual measurement environment including harsh enviro

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  • Laser range finder calibration method for three-dimensional measurement
  • Laser range finder calibration method for three-dimensional measurement
  • Laser range finder calibration method for three-dimensional measurement

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[0028] The invention provides a laser rangefinder calibration method that can be used for three-dimensional measurement in harsh environments. The present invention will be further described below in conjunction with the drawings and specific embodiments.

[0029] (1) Install the camera and laser rangefinder on the same rotating platform of the two-dimensional turntable to form a camera-laser rangefinder combined system, and place it in a good measurement environment. Adjust the laser axis and camera of the laser rangefinder during installation The optical axis is approximately parallel to ensure that the laser spot is in the camera's field of view. After the installation is completed, the relative position of the camera and the laser rangefinder must be kept fixed;

[0030] (2) Place the laser spot receiving target plane in front of the camera-laser rangefinder combined system constructed in step (1), so that the laser spot of the laser rangefinder is projected onto the laser spot...

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Abstract

The invention relates to a laser range finder calibration method for three-dimensional measurement. The method comprises the following steps: installing a camera and a laser range finder on the same rotating platform of a two-dimensional turntable to form a camera-laser range finder combined system, adjusting the laser axis of the laser range finder to be approximately parallel to the optical axisof the camera, ensuring that a laser spot is located in the view field of the camera, and keeping the relative positions of the camera and the laser range finder fixed after installation; placing a laser spot receiving target plane in front of the constructed camera-laser range finder combined system, so that laser spots of the laser range finder are projected to the laser spot receiving target plane; establishing a three-dimensional coordinate system in the optical center of the camera; obtaining the relationship between the laser spot pixel coordinates and the measurement distance of the laser range finder; meanwhile, enabling the camera to collect a laser spot image at each position and extract the mass center of a laser spot; obtaining a relation equation between the laser spot pixelcoordinates and the measurement distance of the laser range finder, and completing the pre-calibration of the laser range finder.

Description

technical field [0001] The invention belongs to the field of laser vision measurement, and in particular relates to a calibration method of a laser rangefinder for three-dimensional measurement in harsh environments. Background technique [0002] With the development of laser measurement technology and image processing technology, the combination system of camera-laser rangefinder has become a research hotspot in the field of 3D measurement. The camera-laser rangefinder combination system has the characteristics of simple structure, high measurement efficiency, and non-contact. It is widely used in industrial measurement fields such as 3D reconstruction, robot navigation, and intelligent driving. The space pose calibration of the laser rangefinder and the camera is a key step in realizing 3D measurement. However, in the harsh measurement environment of strong light and complex background, the camera cannot collect effective image information of the laser spot, and thus cann...

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 吴斌王江康杰虎薛婷何荣芳高国防
Owner TIANJIN UNIV
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