上海交通大学学报

上海交通大学学报（自然版） ›› 2012, Vol. 46 ›› Issue (02): 223-227.

• 自动化技术、计算机技术 • 上一篇    下一篇

大尺寸三维激光测量系统标定方法  

郭扬a, 杜正春a, b, 姚振强a, b   

  1. (上海交通大学 a机械与动力工程学院；b机械系统与振动国家重点试验室，上海 200240)
  • 收稿日期:2010-12-30 出版日期:2012-02-28 发布日期:2012-02-28
  • 基金资助:

    国家自然科学基金资助项目(50805094)

Calibration of a LargeScale 3D Laser Measurement System

 GUO  Yang-a, DU  Zheng-Chun-a, b , YAO  Zhen-Qiang-a, b   

  1. (a School of Mechanical Engineering; b State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2010-12-30 Online:2012-02-28 Published:2012-02-28

摘要： 研究了一种基于平面几何射影变换原理的三维激光测量系统标定方法. 根据测量系统中激光扫描平面的旋转特点，基于平面射影变换中直线不变的映射关系建立了标定对象表面被测点在不同参考系之间变换的约束关系，并采用封闭运动链思想定义系统参考系空间刚体变换关系，将系统标定问题转化为世界坐标系下系统内参数矩阵和外参数矩阵的求解. 通过空间变换关系得到上述2个矩阵的解，实现系统的标定. 该方法标定装置简单、速度快、稳定性好，能够满足实际工程应用中的需求.  

关键词: 大尺寸三维激光测量系统, 有源标定, 平面射影几何变换, 封闭运动链, 内外参数矩阵求解

Abstract: The calibration method of 3D laser scanning measurement system based on the projective geometry transformation was researched. Based on the characteristic of scanning plane and calibration target, the relationship between different coordinates of the scanning points was deduced by projective geometry theory. According to the thought of closed kinematic chain, the constraint equations were established. Hence the calibration problem can be converted into the solution of the intrinsic matrix and the extrinsic matrix of the system parameters in the global coordinate.
The calibration was achieved through the above two matrices by spatial transformation. Finally, the validation was verified through the experiments. The research result lays a good foundation of the further work.

Key words: 3-D laser measurement system, active calibration, projective geometry, closed kinematic chain, intrinsic and extrinsic matrices

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