Self-recalibration of a robot-assisted structured-light-based measurement system

Xu Jing; Chen Rui; Liu Shuntao; Guan Yong

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Self-recalibration of a robot-assisted structured-light-based measurement system

机译：基于机器人辅助结构光的测量系统的自我重新校准

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`The structured-light-based measurement method is widely employed in numerous fields. However, for industrial inspection, to achieve complete scanning of a work piece and overcome occlusion, the measurement system needs to be moved to different viewpoints. Moreover, frequent reconfiguration of the measurement system may be needed based on the size of the measured object, making the self-recalibration of extrinsic parameters indispensable. To this end, this paper proposes an automatic self-recalibration and reconstruction method, wherein a robot arm is employed to move the measurement system for complete scanning; the self-recalibration is achieved using fundamental matrix calculations and point cloud registration without the need for an accurate calibration gauge. Experimental results demonstrate the feasibility and accuracy of our method. (C) 2017 Optical Society of America

机译：“基于结构光”的测量方法广泛用于许多领域。然而，对于工业检验，为了实现工件的完全扫描并克服闭塞，需要将测量系统移动到不同的观点。此外，可以基于测量对象的尺寸来频繁地重新配置测量系统，使得外部参数的自重校准是必不可少的。为此，本文提出了一种自动重新校准和重建方法，其中采用机器人臂移动测量系统以完成扫描; 使用基本矩阵计算和点云注册实现自核校准，而无需准确的校准量表。实验结果表明了我们方法的可行性和准确性。（c）2017年光学学会

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《Applied optics》 |2017年第32期|共9页
作者
Xu Jing; Chen Rui; Liu Shuntao; Guan Yong;
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Tsinghua Univ State Key Lab Tribol Beijing 100084 Peoples R China;

Tsinghua Univ State Key Lab Tribol Beijing 100084 Peoples R China;

AVIC Chengdu Aircraft Ind Grp Co Ltd Chengdu 610092 Sichuan Peoples R China;

Capital Normal Univ Beijing Adv Innovat Ctr Imaging Technol Beijing 100048 Peoples R China;

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Self-recalibration of a robot-assisted structured-light-based measurement system

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