基于误差补偿的立体视觉系统标定方法  

Calibration Method of Stereo Vision System Based on Error Compensation

作　　者：王华 吴东旭[1] 张爽 郭于龙[1] Wang Hua;Wu Dongxu;Zhang Shuang;Guo Yulong(College of Mechanical and Electrical Engineering,Changchun University of Science and Technology,Changchun,Jilin 130022,China;School of Mechatronic Engineering,Changchun Institute of Technology,Changchun,Jilin 130012,China)

机构地区：[1]长春理工大学机电工程学院,吉林长春130022 [2]长春工程学院机电工程学院,吉林长春130012

出　　处：《应用激光》2021年第5期1119-1125,共7页Applied Laser

基　　金：吉林省科技发展计划项目(20200401107GX);吉林省科技发展计划项目(20190302024GX)。

摘　　要：针对现有标定方法存在的成本高、步骤烦琐、鲁棒性小、精度低等问题,建立了立体视觉检测系统并提出了一种基于高精度异形量块的二次标定方法,基于GA-BP算法对该系统进行误差补偿。首先,利用二次标定算法求解由单目CCD和激光器组成的系统内像素坐标系到世界坐标系的转换关系。接着,采用基于海森矩阵的激光条纹提取方法,完成对激光投射器所投出光平面与高精度异形标定块相交的光平面上的棱线图中心线提取。最后,利用GA-BP神经网络算法对立体视觉检测系统采集的数据进行误差补偿。试验结果表明:异形块宽度和深度在补偿后的精度均在0.05 mm以内,立体视觉检测系统稳定可靠、精度高、抗干扰能力强。Aiming at the problems of existing calibration methods, such as high cost, complicated steps, little robustness and low precision, a stereo vision inspection system is established, and a secondary calibration method based on high-precision special-shaped gauge block is proposed. The error of the system is compensated based on GA-BP algorithm. Firstly, the transformation between the Pixel coordinate system and the world coordinate system composed of a single CCD and a laser is solved by the quadratic calibration algorithm. Then, the method of laser fringe extraction based on Heisenberg matrix is used to extract the center line of the edge line on the light plane where the light plane of the laser projector intersects the high-precision special-shaped calibration block. Finally, GA-BP neural network algorithm is used to compensate the errors of the data collected by the stereo vision inspection system. The experimental results show that the precision of the special-shaped block is less than 0.05 mm after the width and depth compensation, and the stereo vision detection system is stable, reliable, high precision and strong anti-interference ability.

关 键 词：二次标定算法 线结构光 条纹中心提取 GA-BP算法 误差补偿 

分 类 号：TP202[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]