三维扫描测头精确跟踪的摄影测量方法  

Photogrammetric method for accurate tracking of 3D scanning probe

作　　者：刘虹[1] 王文祥[1] 李维诗[1] 

机构地区：[1]合肥工业大学仪器科学与光电工程学院,合肥230009

出　　处：《计算机应用》2017年第7期2057-2061,共5页journal of Computer Applications

基　　金：安徽省自主创新资金资助项目(JZ2015QSJH0244);佛山市科技创新专项资金资助项目(2014IT100115)~~

摘　　要：针对传统三维扫描测量机器人依赖于机器人的定位精度从而难以实现高精度测量的问题,提出了一种三维扫描测头精确跟踪定位的摄影测量方法。首先,搭建由多个工业摄像机构成的测头跟踪系统,并在机器人的扫描测头上粘贴编码标志点;然后,对摄像机进行高精度标定,求解出摄像机内外参数;其次,多摄像机同步采样,对图像中的标志点依据编码原理进行匹配,并求出投影矩阵;最终,求解出编码标志点在空间中的三维坐标,实现三维扫描测头的跟踪定位。实验结果表明,标志点定位在距离上的平均误差为0.293 mm,在角度上的平均误差为0.136°,算法精度在合理范围之内。采用该摄影测量方法可以提高扫描测头的定位精度,从而实现高精度测量。For the traditional 3D robot scanners, the measuring precision is dependent on the positioning precision of the robot, and it is difficult to achieve high measuring precision. A photogrammetric method was proposed to track and position the 3D scanning probe accurately. First, a probe tracking system consisting of multiple industrial cameras was set up, and coded markers were pasted on the probe. Then, the camera was calibrated with high precision and interior and exterior parameters of the camera were obtained. Second, all cameras were synchronized, the markers in the image were matched according to the coding principle, and the projection matrix was obtained. Finally, the 3D coordinates of the markers in space were computed to track and position the probe. The experimental results show that the mean error of the marker position is 0. 293 mm, the average angle error is 0. 136% and the accuracy of the algorithm is within reasonable range. The photogrammetric method can improve the positioning precision of the probe, so as to achieve high precision measurement.

关 键 词：工业机器人 三维扫描测头 编码标志点 摄影测量 跟踪 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] TP391.413[自动化与计算机技术—控制科学与工程]