Global calibration method based on binocular visual system and laser tracker measurement system

Abstract

The invention discloses a global calibration method based on a binocular visual system and a laser tracker measurement system. Firstly a rigid stereoscopic target of which the A side is provided withbinocular visual system circular mark points and the B side is provided with laser tracker measurement target balls is manufactured; then the A side coordinate system and the B side coordinate systemof the stereoscopic target are established; the transformation relation between the A side coordinate system of the stereoscopic target and the left camera coordinate system of the binocular visual system and the transformation relation between the B side coordinate system of the stereoscopic target and the laser tracker world coordinate system are solved; the transformation relation between the Aside coordinate system and the B side coordinate system is solved according to the transformation relation solved in the last step; and finally the transformation relation between the left camera coordinate system of the global calibration binocular visual system and the laser tracker world coordinate system is solved. The difficulty of directly processing and maintaining the high-precision stereoscopic target can be reduced so that the measurement error caused by direct measurement can be solved and the more accurate calibration result can be acquired.

Description

technical field [0001] The invention belongs to the technical field of optical measurement, and in particular relates to a global calibration method based on a binocular vision system and a laser tracker measurement system. Background technique [0002] With the rapid development of computer vision-related technologies, the precise measurement of non-contact 3D feature points is widely used in deformation monitoring, dimensional analysis, quality inspection, etc. in the field of modern industrial manufacturing, especially when it comes to large-scale measurement fields, such as deformation monitoring , shipbuilding, aerospace manufacturing, etc. As an important branch of computer vision, the binocular vision system is composed of two visual sensors arranged in cross directions, which capture the left and right images of spatial points under two different viewing angles, and use the image matching points corresponding to the spatial points in the left and right images, accord...

AI Technical Summary

Problems solved by technology

[0005] In order to expand the measurement range of the binocular vision system to tens of meters or even hundreds of meters, a global coordinate system can be established with the help of a laser tracker to ensure that the overall measurement accuracy in the range of tens of meters or even hundreds of meters reaches mm level. But the key problem is how to realize the global calibration of the measurement coordinate system of the binocular vision system and the global coordinate system of the laser tracker with high precision.

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