激光跟踪测距三维坐标视觉测量系统建模  

Model for a Laser Distance Tracking 3D Coordinates Vision Measuring System

作　　者：黄风山[1] 钱惠芬[1] 

机构地区：[1]河北科技大学机械电子工程学院

出　　处：《光电子．激光》2007年第11期1333-1335,共3页Journal of Optoelectronics·Laser

基　　金：国家自然科学基金资助项目(50475116);河北科技大学科研基金资助项目

摘　　要：提出了一种激光跟踪测距视觉坐标测量系统,主要由摄像机、激光测距仪、计算机和光笔组成。测量时摄像机测量光笔上各光反射点的方向,激光测距仪跟踪捕捉并测量出某一光反射点到激光测距仪的距离,由测得的方向和距离计算出光笔笔尖接触点的三维坐标。根据n点透视问题(PnP)原理建立了系统的数学模型,激光测距仪测得的距离参数的引入,使得该数学模型可以线性求解,而且解具有唯一性。依据冗余技术给出了被测点三维坐标的求解方程组及其解法。和单摄像机视觉坐标测量系统的比对实验结果表明:在Z、Y和X轴方向上的测量稳定性精度可分别提高0.366、0.031和0.011 mm。A laser distance tracking 3D coordinates vision measuring system is proposed. It mainly consists of a CCD camera, a laser rangefinder,a computer and a light pen. When measuring, the CCD camera registers the direction of every light-reflecting point mounted on the light pen. According to these measured directions,the laser rangefinder can track and capture each light-reflecting point,and record the distance between one of the four light-reflecting points and the laser rangefinder. Using the measured directions and distance,the system can calculate the 3D coordinates of the point touched by the penpoint. Based on the perspective-n-point problem（PnP） prindple,the system＇s mathematic model is established. Because of the distance parameter,this model can be solved linearly,and its solution is unique. On the basis of the redundancy technology, the 3D coordinates analytic equations of the measured point and its solving method are given. The comparison shows that the system＇s measuring stability precision is 0. 336 mm,0. 031 mm and 0.011 mm higher than that of the single CCD camera coordinates measuring system in the direction of Z,Y,X axis respectively.

关 键 词：跟踪测距 三维坐标视觉测量 n点透视问题(PnP) 冗余技术 

分 类 号：TN247[电子电信—物理电子学]