Calibration method and device of three-dimensional laser scanning system, and computer equipment

Abstract

Embodiments of the invention provide a calibration method and device for a three-dimensional laser scanning system, and computer equipment. The three-dimensional laser scanning system comprises a camera, a laser transmitter and a calibration block with step surfaces. The calibration method comprises the following steps: acquiring laser stripes of the calibration block with the step surfaces by adopting the camera which has been calibrated; extracting the center of the laser stripes, and segmenting the laser stripes on each step surface to obtain point sets of planes and vertical planes; calculating height errors between the horizontal planes of the step surfaces and width errors between the vertical planes of the step surfaces through the point sets of the planes and the vertical planes; establishing an optimization function by adopting the height errors between the horizontal planes of the step surfaces and the width errors between the vertical planes of the step surfaces; and solving the optimization function through a trust region algorithm to obtain parameters of a laser plane. According to the invention, the calibration and parameter optimization of a line laser three-dimensional measurement system can be completed only by using one step surface, operation is simple, efficiency is high, the method is suitable for field operation, and a result is accurate.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a calibration method for a three-dimensional laser scanning system, a calibration device for a three-dimensional laser scanning system, a computer device and a storage medium. Background technique [0002] Line laser 3D reconstruction based on laser and camera is the most important method of non-contact 3D measurement widely used at present. This technology is based on the principle of triangulation in stereo vision, and projects a laser plane onto the object through line laser. , using the calibrated camera to obtain the laser plane stripes on the object, and the three-dimensional coordinates of the target object illuminated by the laser plane can be obtained through the triangulation ranging principle. The most important and first step in online laser measurement is calibration. The calibration is further divided into camera calibration and laser plane calibration. Among th...

AI Technical Summary

Problems solved by technology

However, these methods have the following problems: the production accuracy of the calibration object is high, multiple pictures are required, a special auxiliary platform (such as a displacement platform) is required, the calculation is complicated, and it is easy to fall into the local optimum

[0004] To sum up, there are mainly two problems with the existing methods: 1) There are many problems in the calibration process that need attention, such as the production of the calibration board, the location of the calibration process, the number of calibration images, etc., if the experience is insufficient , it is easy to get poor calibration parameters; 2) The calibration parameter optimization of the existing method is based on the minimum error of the 2D image coordinates of the detected corner point to the calibration plane, while the actual measurement is based on the three-dimensional coordinate distance The scale is standard, so the calibration optimization error is difficult to reflect the actual calibration parameters

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