基于阶梯形标定物的线激光传感器手眼标定算法  

Hand-eye Calibration Algorithm of Line Laser Sensor Based on Step-shaped Calibrators

作　　者：孙炜[1,3] 舒帅 李汶霖 刘乃铭 苑河南 刘权利 SUN Wei;SHU Shuai;LI Wenlin;LIU Naiming;YUAN Henan;LIU Quanli(College of Electrical and Information Engineering,Hunan University,Changsha 410082,China;DUT-RU International School of Information Science and Engineering at DUT,Dalian University of Technology,Dalian 116000,China;State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,Hunan University,Changsha,410082,China)

机构地区：[1]湖南大学电气与信息工程学院,湖南长沙410082 [2]大连理工大学大连理工大学-立命馆大学国际信息与软件学院,辽宁大连116000 [3]湖南大学汽车车身先进设计制造国家重点实验室,湖南长沙410082

出　　处：《湖南大学学报（自然科学版）》2022年第2期83-92,共10页Journal of Hunan University:Natural Sciences

基　　金：国家自然科学基金资助项目(U1813205);湖南省科技计划项目(2020GK2025);湖南大学汽车车身先进设计制造国家重点实验室自主研究项目;电子制造业智能机器人技术湖南省重点实验室开放课题资助项目。

摘　　要：本文设计了一种阶梯形标定物,这种标定物的标定点坐标更容易获取,只需线激光对准一次标定物上的标记点,与球形标定法相比操作更加简单;同时,在阶梯型标定物的基础上,提出了一种线激光传感器手眼标定算法,该算法利用RASANC(随机抽样一致)算法对标定点进行拟合,并利用最小二乘法求解手眼标定矩阵,这种标定算法无需对标定点的坐标进行修正.实验结果表明,阶梯形标定法的精度和稳定性均优于球形标定法,且该方法操作简单,可以满足自动化加工领域的大部分应用.This paper designed a step-shaped calibrator,which is easier to obtain the coordinates of the calibration points and only requires the line laser to align the marked points on the calibrator once,and easier to operate than the spherical calibration method;At the same time,based on the step-shaped calibrators,this paper proposes a hand-eye calibration algorithm for line laser sensors.The algorithm uses the RANSAC(Random Sampling Consensus)algorithm to fit the calibration points,and uses the least square method to solve the hand-eye calibration matrix.This calibration algorithm does not need to modify the coordinates of the calibration point.The experimental results show that the accuracy and stability of the step-shaped calibration method are better than those of the spherical calibration method,and the method is simple to operate and can meet most applications in the field of automatic processing.

关 键 词：手眼标定 线激光传感器 阶梯形标定物 RASANC算法 

分 类 号：TN248[电子电信—物理电子学]