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1、激光跟蹤測距三維坐標(biāo)視覺測量系統(tǒng)建模3黃風(fēng)山1,233,錢惠芬1(1.河北科技大學(xué)機械電子工程學(xué)院,河北石家莊050054;2.天津大學(xué)精密測試技術(shù)與儀器國家重點實驗室,天津300072摘要:提出了一種激光跟蹤測距視覺坐標(biāo)測量系統(tǒng),測量時攝像機測量光筆上各光反射點的方向,,由測得(,激光測距儀測得的距離參數(shù)的引入,依據(jù)冗余技術(shù)給出了被測:在Z、Y和X軸方向0.、0.和0.011mm。關(guān)鍵詞:;;n點透視問題(PnP;冗余技術(shù)中圖分類號: 文獻標(biāo)識碼:A 文章編號: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攝像機為核心部件構(gòu)筑的三維視覺坐標(biāo)測量系統(tǒng)的研究得到了發(fā)展[1],其主要優(yōu)點是攝像機可直接測量空間點的方向,精度高。而系統(tǒng)求解時往往需要確定各被測特征點到攝像機透視中心的距離,由于攝像機不能直接測量距離,只能由測得的方向和其它已知條件來計算,這樣會因誤差的傳遞、放大和累積使得計算出的距離精度較低,從而影響系統(tǒng)最終的測量精度[2]。并且,基于攝像
8、機視覺坐標(biāo)測量系統(tǒng)的n點透視問題(PnP復(fù)雜,易產(chǎn)生多解[3]?！ ¤b于攝像機視覺坐標(biāo)測量存在的不足,本文提出一種基于攝像機和激光測距儀的視覺坐標(biāo)測量系統(tǒng)。測量時,攝像機測量各光反射單元(被測特征點的方向[4],激光測距儀跟蹤捕捉并測量某一光反射單
