基于主动视觉标定线结构光传感器中的光平面

陈天飞; 马孜; 吴翔

doi:10.3788/OPE.20122002.0256

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基于主动视觉标定线结构光传感器中的光平面

现代应用光学 | 更新时间：2020-08-12

- 基于主动视觉标定线结构光传感器中的光平面
- Calibration of light plane in line structured light sensor based on active vision
- 光学精密工程 2012年20卷第2期页码：256-263
- 作者机构：
  
  大连海事大学自动化研究中心,辽宁大连,116026
- 作者简介：
- 基金信息：
  
  国家科技重大专项资助项目(No.2009ZX04001-021)()
- DOI：10.3788/OPE.20122002.0256
  中图分类号： TP391;TP212.6
- 收稿日期：2011-09-13，
  
  修回日期：2011-10-28，
  
  网络出版日期：2012-02-25，
  
  纸质出版日期：2012-02-25
- 稿件说明：
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陈天飞, 马孜, 吴翔. 基于主动视觉标定线结构光传感器中的光平面[J]. 光学精密工程, 2012,20(2): 256-263

CHEN Tian-fei, MA Zi, WU Xiang. Calibration of light plane in line structured light sensor based on active vision[J]. Editorial Office of Optics and Precision Engineering, 2012,20(2): 256-263
陈天飞, 马孜, 吴翔. 基于主动视觉标定线结构光传感器中的光平面[J]. 光学精密工程, 2012,20(2): 256-263 DOI： 10.3788/OPE.20122002.0256.

CHEN Tian-fei, MA Zi, WU Xiang. Calibration of light plane in line structured light sensor based on active vision[J]. Editorial Office of Optics and Precision Engineering, 2012,20(2): 256-263 DOI： 10.3788/OPE.20122002.0256.

摘要

提出了一种基于主动视觉的光平面标定方法实现对线结构光传感器的自动标定。与以往求取光平面上标定点后拟合平面的方法不同

该方法通过控制传感器做若干平移运动分两步完成标定。首先

经多次平移运动得到光平面中相互平行直线在摄像机中的投影

经计算消影点完成光平面法向的标定。然后

控制传感器沿设定的与光平面法向垂直的方向做2次平移运动

使其满足三点透视模型(P3P)

完成摄像机坐标系原点到光平面距离信息的标定。实验结果表明:该标定方法具有较高的准确性

平均绝对测量偏差为0.015 4 mm

相对误差为0.183 0％。该方法本质上属于自标定方法

标定过程无需使用标靶

降低了标定成本

且操作灵活方便

适合现场标定。

Abstract

A calibration approach based on active vision for a light plane is proposed to achieve the self-calibration of a line structured light sensor. The proposed method is different from the previous plane fitting methods using the target points on the light plane

and the entire calibration process can be accomplished in two steps by several translational motions of a sensor. Firstly

the projections of parallel lines in the light plane are captured through some translational motions

and the normal vector of light plane is obtained via computing vanishing points. Then

in order to satisfy the model of perspective-three-points

the sensor is controlled to move along the set direction twice which is perpendicular to the normal vector

and the distance from the origin of camera coordinate system to the light plane is derived eventually. Experimental result shows that this calibration method has high accuracy

its average measuring accuracy is 0.015 4 mm

and relative error is about 0.183 0%. This calibration approach belongs to the self-calibration method without calibration targets

therefore

the calibration cost is reduced. It concludes that the whole process is easy

flexible and suitable for calibration on sites.

关键词

Keywords

references

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