基于主动视觉标定线结构光传感器中的光平面  

Calibration of light plane in line structured light sensor based on active vision

作　　者：陈天飞[1] 马孜[1] 吴翔[1] 

机构地区：[1]大连海事大学自动化研究中心,辽宁大连116026

出　　处：《光学精密工程》2012年第2期256-263,共8页Optics and Precision Engineering

基　　金：国家科技重大专项资助项目(No.2009ZX04001-021)

摘　　要：提出了一种基于主动视觉的光平面标定方法实现对线结构光传感器的自动标定。与以往求取光平面上标定点后拟合平面的方法不同,该方法通过控制传感器做若干平移运动分两步完成标定。首先,经多次平移运动得到光平面中相互平行直线在摄像机中的投影,经计算消影点完成光平面法向的标定。然后,控制传感器沿设定的与光平面法向垂直的方向做2次平移运动,使其满足三点透视模型(P3P),完成摄像机坐标系原点到光平面距离信息的标定。实验结果表明:该标定方法具有较高的准确性,平均绝对测量偏差为0.015 4mm,相对误差为0.183 0%。该方法本质上属于自标定方法,标定过程无需使用标靶,降低了标定成本,且操作灵活方便,适合现场标定。A calibration approach based on active vision for a light plane is proposed to achieve the self-calibration of a line structured light sensor.The proposed method is different from the previous plane fitting methods using the target points on the light plane,and the entire calibration process can be accomplished in two steps by several translational motions of a sensor.Firstly,the projections of parallel lines in the light plane are captured through some translational motions,and the normal vector of light plane is obtained via computing vanishing points.Then,in order to satisfy the model of perspective-three-points,the sensor is controlled to move along the set direction twice which is perpendicular to the normal vector,and the distance from the origin of camera coordinate system to the light plane is derived eventually.Experimental result shows that this calibration method has high accuracy,its average measuring accuracy is 0.015 4 mm,and relative error is about 0.183 0%.This calibration approach belongs to the self-calibration method without calibration targets,therefore,the calibration cost is reduced.It concludes that the whole process is easy,flexible and suitable for calibration on sites.

关 键 词：线结构光传感器 光平面标定 消影点 三点透视模型 主动视觉 

分 类 号：TP212.6[自动化与计算机技术—检测技术与自动化装置] TP391[自动化与计算机技术—控制科学与工程]