摘要
基于iGPS定位跟踪的三维形貌测量系统,建立了测量系统的数学模型,介绍了传统手眼标定技术的主要原理,使用激光跟踪仪建立了系统转换关系。提出了一种融合特征点拟合的标定方法,利用特征点约束和基于罗德里格矩阵的算法得到了转换关系。对标定后的系统进行了基于机器人基坐标系和iGPS世界坐标系的点云拼接对比实验,实验结果表明,融合特征点拟合的标定方法提高了点云拼接的精度。
Based on the three-dimensional shape measurement system of iGPS positioning and tracking,a mathematical model of this system is established,and the main principle of the traditional hand-eye calibration technology is introduced.Then the system conversion relationship is established with the laser tracker.A calibration method based on feature point fitting is proposed and the transformation relationship is solved by the feature point constraint and the Rodrigue matrix based algorithm.The point cloud splicing contrast experiments based on the robot base coordinate system and the iGPS world coordinate system are performed on the calibration system.The experimental results show that the calibration method based on fusion feature point fitting improves the precision of point cloud splicing.
作者
马国庆
刘丽
于正林
曹国华
王强
Ma Guoqing;Liu Li;Yu Zhenglin;Cao Guohua;Wang Qiang(College of Mechanical and Electric Engineering,Changchun University of Science and Technology,Changchun,Jilin130022,China;College of Optoelectronic Engineering,Changchun University of Science and Technology,Changchun,Jilin130022,China)
出处
《中国激光》
EI
CAS
CSCD
北大核心
2019年第1期179-187,共9页
Chinese Journal of Lasers
基金
吉林省科技发展计划(20160204016GX
20180623031TC)
吉林省省级产业创新专项资金(2016C088
2017C045-2)
吉林省教育厅"十三五"科学技术项目(JJKH20170626KJ)
长春理工大学青年科学基金(XQNJJ-2016-04
XQNJJ-2017-11)
关键词
测量
iGPS定位
标定
特征点
拟合
measurement
iGPS positioning
calibration
feature point
fitting
