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1、激光跟踪测距三维坐标视觉测量系统建模3黄风山1,233,钱惠芬1(1.河北科技大学机械电子工程学院,河北石家庄050054;2.天津大学精密测试技术与仪器国家重点实验室,天津300072摘要:提出了一种激光跟踪测距视觉坐标测量系统,测量时摄像机测量光笔上各光反射点的方向,,由测得(,激光测距仪测得的距离参数的引入,依据冗余技术给出了被测:在Z、Y和X轴方向0.、0.和0.011mm。关键词:;;n点透视问题(PnP;冗余技术中图分类号: 文献标识码:A 文章编号:100520086(20071121333203Modelfor
2、aLaserDistanceTracking3DCoordinatesVisionMeasuringSystemHUANGFeng2shan1,233,QIANHui2fen1(1.MechanicalandElectronicEngineeringCollege,HebeiUniversityofScienceandTechnology,Shijiazhuang050054,China;2.StateKeyLaboratoryofPrecisionMeasuringTechnologyandInstrument,TianjinU
3、niversity,Tianjin300072,ChinaAbstract:Alaserdistancetracking3Dcoordinatesvisionmeasuringsystemisproposed.ItmainlyconsistsofaCCDcamera,alaserrangefinder,acomputerandalightpen.Whenmeasuring,theCCDcameraregistersthedirectionofeverylight2re2flectingpointmountedonthelightp
4、en.Accordingtothesemeasureddirections,thelaserrangefindercantrackandcaptureeachlight2reflectingpoint,andrecordthedistancebetweenoneofthefourlight2reflectingpointsandthelaserrangefinder.Usingthemeasureddirectionsanddistance,thesystemcancalculatethe3Dcoordinatesofthepoi
5、nttouchedbythepen2point.Basedontheperspective2n2pointproblem(PnPprinciple,thesystem′smathematicmodelisestablished.Becauseofthedistanceparameter,thismodelcanbesolvedlinearly,anditssolutionisunique.Onthebasisoftheredundancytechnology,the3Dcoordinatesanalyticequationsoft
6、hemeasuredpointanditssolvingmethodaregiven.Thecomparisonshowsthatthesystem′smeasuringstabilityprecisionis0.336mm,0.031mmand0.011mmhigherthanthatofthesingleCCDcameraco2ordinatesmeasuringsysteminthedirectionofZ,Y,Xaxisrespectively.Keywords:trackingdistancemeasurement;32
7、Dcoordinatesvisionmeasurement;perspective2n2pointproblem(PnP;redundancytechnology1 引 言 近年,以CCD摄像机为核心部件构筑的三维视觉坐标测量系统的研究得到了发展[1],其主要优点是摄像机可直接测量空间点的方向,精度高。而系统求解时往往需要确定各被测特征点到摄像机透视中心的距离,由于摄像机不能直接测量距离,只能由测得的方向和其它已知条件来计算,这样会因误差的传递、放大和累积使得计算出的距离精度较低,从而影响系统最终的测量精度[2]。并且,基于摄像
8、机视觉坐标测量系统的n点透视问题(PnP复杂,易产生多解[3]。 鉴于摄像机视觉坐标测量存在的不足,本文提出一种基于摄像机和激光测距仪的视觉坐标测量系统。测量时,摄像机测量各光反射单元(被测特征点的方向[4],激光测距仪跟踪捕捉并测量某一光反射单
