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Single camera stereo vision coordinate measurement in parts' pose recognization on CMM

机译：CMM零件姿态识别中的单摄像机立体视觉坐标测量

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摘要

In order to recognize parts' pose on Coordinate Measuring Machine (CMM) correctly and fast, based on the translation of CMM, A single camera stereo vision measurement method for feature points' 3D coordinate on the measured parts is proposed. According to the double cameras stereo vision principle, a image of the part to be measured is captured by A CCD camera, which is driven by CMM along its X or Y axis, on two different position correspondly. Thus, the part's single camera stereo vision measurement is realized with the proposed image matching method, which is based on the centroid offset of image edge, on two images of the same feature point on the part, and each feature point's 3D coordinate in the camera coordinate system can be obtained. The measuring system is set up, and the experiment is conducted. The feature point's coordinate measuring time is 1.818s, and the difference value, which is between feature points' 3D coordinate calculated with the experiment result and that measured by CMM in the machine coordinate system, is less than 0.3mm. This measuring result can meet parts' pose real-time recognization requirement on the intelligent CMM, and also show that the method proposed in this paper is feasible.
机译：为了正确，快速地识别坐标测量机（CMM）上的零件姿态，基于坐标测量机的翻译，提出了一种针对被测零件特征点的3D坐标的单相机立体视觉测量方法。根据双摄像头立体视觉原理，被测零件的图像由CCD摄像头捕获，该摄像头由CMM沿其X轴或Y轴分别在两个不同的位置上驱动。因此，通过提出的图像匹配方法可以实现零件的单摄像机立体视觉测量，该方法基于图像边缘的质心偏移，零件上相同特征点的两幅图像以及摄像机中每个特征点的3D坐标可以获得坐标系。建立了测量系统，并进行了实验。特征点的坐标测量时间为1.818s，并且根据实验结果计算出的特征点的3D坐标与CMM在机器坐标系中测量的3D坐标之间的差值小于0.3mm。测量结果可以满足智能三坐标测量机零件姿态实时识别的要求，也表明本文提出的方法是可行的。

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