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

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...

AI Technical Summary

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 method of the structured light hand-eye measurement system, the present invention proposes a fully automatic calibration method based on three environmental feature points

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