光笔式大视场三维视觉测量系统

冯萍; 魏振忠

doi:10.3788/OPE.20132109.2217

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光笔式大视场三维视觉测量系统

现代应用光学 | 更新时间：2020-08-12

- 光笔式大视场三维视觉测量系统
- Light Probe Based Large FOV 3D Vision Measurement System
- 光学精密工程 2013年21卷第9期页码：2217-2224
- 作者机构：
  
  北京航空航天大学精密光机电一体化技术教育部重点实验室，北京 100191
- 作者简介：
- 基金信息：
  
  国家重大科学仪器设备开发专项(2014YQ120351)
- DOI：10.3788/OPE.20132109.2217
  中图分类号： TP391
- 收稿日期：2013-02-21，
  
  修回日期：2013-05-06，
  
  网络出版日期：2013-09-30，
  
  纸质出版日期：2013-09-15
- 稿件说明：
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冯萍魏振忠. 光笔式大视场三维视觉测量系统[J]. 光学精密工程, 2013,21(9): 2217-2224

Ping Feng WEI Zhen-zhong. Light Probe Based Large FOV 3D Vision Measurement System[J]. Editorial Office of Optics and Precision Engineering, 2013,21(9): 2217-2224
冯萍魏振忠. 光笔式大视场三维视觉测量系统[J]. 光学精密工程, 2013,21(9): 2217-2224 DOI： 10.3788/OPE.20132109.2217.

Ping Feng WEI Zhen-zhong. Light Probe Based Large FOV 3D Vision Measurement System[J]. Editorial Office of Optics and Precision Engineering, 2013,21(9): 2217-2224 DOI： 10.3788/OPE.20132109.2217.

摘要

针对先进制造业对大型装备大范围精密尺寸测量需求，基于双目立体视觉测量原理设计了一种光笔式大视场三维视觉测量系统。基于透视投影变换下的时针顺序和共线性不变量设计了光笔特征点空间分布模式，实现了特征点的准确识别与接触探头坐标的计算。在双目立体视觉传感器的透视投影和齐次坐标三维测量模型基础上，以一维基线尺靶标自由移动和基准长度约束为核心，通过本质矩阵E的线性求解结合非线性优化实现了其结构参数的现场精确标定。研制了由光笔、双目立体视觉测量系统、便携式三脚架、一维基线尺靶标和测量软件构成的大视场三维视觉测量系统，完成了机器人本体表面三维数据的稠密测量实验，在7m4.7m测量范围内系统测量精度优于0.2mm。

Abstract

To meet the great demand for large scope precise measurement of large-scale equipments in advanced manufacturing industry

a light probe based large FOV 3D vision measurement system based on binocular stereo vision is proposed. The spatial distribution mode of the character points on the light probe is determined according to the invariants of clockwise direction and colinearity under perspective projection

which is helpful to make recognition of character points and coordinates calculation of the probe. Based on the 3D measurement model of binocular stereo vision sensor established on the theories of perspective projection and homogeneous coordinates

the structure parameters of binocular stereo vision sensor is calibrated through linearly solving the essential matrix E further following with nonlinear optimization by freely moving a 1D target with known precise length. A true large FOV 3D vision measurement system is constructed

which consists of a light probe

a binocular 3D vision measurement system

a portable tripod

a 1D target and a set of measurement software. Real experiment to measure the dense 3D data is performed on a robot body surface in the field of 7m4.7m and an accuracy being better than 0.2mm is achieved.

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references

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