基于三维点云处理的自动化手眼标定系统设计与实现  

Design and implementation of automated hand-eye calibration system based on 3D point cloud processing

作　　者：张淑光 高鹏翔[1] 万志波[1,2] 宋启杰 ZHANG Shuguang;GAO Pengxiang;WAN Zhibo;SONG Qijie(Qingdao University,Qingdao,Shandong 266071,China;Qingdao Hailai Tianchuang Technology Co.,Ltd.,Qingdao,Shandong 266237,China)

机构地区：[1]青岛大学,山东青岛266071 [2]青岛海徕天创科技有限公司,山东青岛266237

出　　处：《计算机应用文摘》2024年第8期56-58,共3页Chinese Journal of Computer Application

摘　　要：为了解决手眼标定过程中存在的操作烦琐、人工选点误差大等问题,文章设计并实现了一个基于三维点云处理技术的自动化手眼标定系统。该系统通过简单的棋盘格标定板在10个不同姿态下扫描了三维点云,利用Harris算法自动提取了角点坐标,构建了AX=XB方程并利用Tsai方法求解方程,从而通过ICP配准算法对计算结果进行了补偿。实验结果证明,该系统具有高效稳定的标定性能,标定精度可达1 mm。In order to solve the problems of tedious operation and large manual point selection errors in the process of handeye calibration,this article designs and implements an automated hand-eye calibration system based on 3D point cloud processing technology.The system scanned 3D point clouds in ten different poses using a simple chessboard calibration board,automatically extracted corner coordinates using Harris algorithm,constructed the AX=XB equation,and solved the equation using Tsai method.The calculation results were compensated using ICP registration algorithm.The experimental results demonstrate that the system has efficient and stable calibration performance,with a calibration accuracy of up to 1 mm.

关 键 词：三维点云处理 手眼标定 角点提取 点云配准 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]