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首页> 外文会议>IASTED International Conference on Artificial Intelligence and Soft Computing >SIMULTANEOUS INTRINSIC AND EXTRINSIC CALIBRATION OF HAND-MOUNTED LASER RANGE FINDER
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SIMULTANEOUS INTRINSIC AND EXTRINSIC CALIBRATION OF HAND-MOUNTED LASER RANGE FINDER

机译：手持式激光测距仪的同时内在和外在校准

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摘要

In this paper, we propose a new calibration method based on a genetic algorithm to determine the model parameters of a hand-mounted laser range finder. A laser range finder, consisting of a camera and a laser stripe projector, is used as a sensor component of the robotic measurement system, and it measures the range data with respect to the robot base frame using robot forward kinematics and the optical triangulation principle. For the optimal estimation of the model parameters, a real-coded genetic algorithm is applied to the calibration process, which minimizes the overall residual errors between the known reference points and their estimated results. The proposed scheme identifies the intrinsic and extrinsic model parameters of the hand-mounted laser range finder simultaneously. Also it does not require good initial guesses of the system parameters to converge at a very stable solution and it could be applied to a kinematically dissimilar robot system without loss of generality.
机译：在本文中，我们提出了一种基于遗传算法的新校准方法来确定手持式激光测距仪的模型参数。由相机和激光条纹投影仪组成的激光测距仪用作机器人测量系统的传感器组件，并且使用机器人前进运动学和光学三角测量原理来测量相对于机器人基础帧的范围数据。为了实现模型参数的最佳估计，将实际编码的遗传算法应用于校准过程，这使得已知参考点与其估计结果之间的总体残留误差最小化。该方案识别了手持式激光测距仪同时的内在和外在模型参数。此外，它不需要在非常稳定的解决方案下收敛系统参数的良好初始猜测，并且可以应用于运动学上不同的机器人系统而不会损失一般性。

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