摘要
针对旋转拼接系统分步标定摄像机和转台中心轴时容易造成误差累计的问题,提出一种基于2D靶标的摄像机与转台中心轴同步标定方法。该方法利用转台旋转调整2D靶标位姿,通过同一组实验数据完成摄像机与转台中心轴两个标定过程。实验结果表明:四视角点云拼接试验中,标准球拼接后,重建模型直径与实际直径偏差均值为0. 1293 mm;航空压气机叶片拼接后获得模型厚度与叶片实际厚度偏差的均值为0. 1192 mm,平均偏差率为4. 47%,满足叶片焊接轨迹规划需要。实际应用证明:该方法简化了系统标定流程,在不降低三维点云测量与拼接精度的前提下,提高了系统标定效率。
Aiming at the problem of error accumulation when the rotating splicing system step-by-step calibrates the camera and the truntable central axis,a synchronization calibration method of camera and turntable center axis,a synchronization calibration method of camera and turntable center axis based on 2D target is proposed.The method uses the rotation of the turntable to adjust the pose of the 2D target,through the same set of experimental data,to complete the two calibration processes of the camera and the central axis of the turntable.Experimental result shows that in the four-view point cloud stitching test,the average value of the deviation between the diameter of the standard ball and the actual diameter after stitching of the standard ball is 0.129 3 mm;the mean value of the deviation between the model thickness and the actual thickness of the blade after air compressor blade splicing is 0.119 2 mm and the average deviation rate is 4.47%,which meets the blade welding trajectory planning needs.As it turns out,this method simplifies the system calibration process and improves the system calibration efficiency without reducing the precision of point cloud measurement and splicing.
作者
吕海东
任永潮
戴士杰
王志平
LüHaidong;REN Yongchao;DAI Shijie;WANG Zhiping(Hebei Key Laboratory of Robot Perception and Human-Machine Integration,Hebei University of Technology,Tianjin300130,China;Tianjin Key Laboratory of Civil Airworthiness and Maintenance,Civil Aviation University of China,Tianjin300130,China)
出处
《传感器与微系统》
CSCD
2019年第7期23-27,共5页
Transducer and Microsystem Technologies
基金
国家自然科学基金委员会与中国民用航空局联合项目(U1433117)
河北省自然科学基金资助项目(F2017202243)
关键词
光学测量
点云拼接
摄像机标定
中心轴标定
同步标定
optical measurement
point cloud stitching
camera calibration
central axis calibration
synchronous calibration
