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基于位置敏感器件的视觉测量系统标定技术

Calibration Technology of Visual Measurement System Based on Position Sensitive Detector

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摘要

位置敏感器件(PSD)具有受光照影响小、数据处理简单的特点,在视觉位姿测量方面具有很大优势。但受PSD传感器自身非线性的影响,其畸变复杂,PSD传感器的标定成为其应用的关键。针对PSD相机和红外发光二极管(LED)光源组成的PSD视觉测量系统,提出了一种PSD相机标定方法。该方法采用多项式模型表征PSD相机畸变,结合传统的针孔成像模型共同构成PSD相机成像模型;利用非线性优化标定相机模型参数;设计了专用的红外LED标定板,实现了PSD视觉测量系统的标定。实验结果表明:该方法对PSD相机的标定精度较高,利用该标定结果进行位姿测量的精度较高,速度较快,可以满足高精度光学测量的需求。

Abstract

Position sensitive detector (PSD) has a great advantage in terms of visual pose measurement due to less affect by light and the simple data processing. However, due to the non-linearity of the PSD sensor itself, the distortion of the PSD sensor is complex and the calibration of the PSD sensor becomes the key to its application. Aiming at the PSD vision measurement system composed of PSD camera and infrared light emitting diode (LED) light source, we propose a PSD camera calibration method. The method uses polynomial model to characterize the PSD camera distortion, combined with the traditional pinhole imaging model to form the PSD camera imaging model. Non-linear optimization is used to get calibration camera model parameters. A dedicated infrared LED calibration board is designed to achieve PSD vision measurement system calibration. Experimental results show that this method has high calibration accuracy for PSD camera. With this calibration result, we can obtain high measurement accuracy of position and orientation and short running time, which can meet the demand of high precision optical measurement.

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中图分类号:TN247

DOI:10.3788/lop55.081202

所属栏目:仪器,测量与计量

收稿日期:2018-02-11

修改稿日期:2018-03-08

网络出版日期:2018-03-14

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滕玉坤:中国科学院沈阳自动化研究所, 辽宁 沈阳 110016中国科学院大学, 北京 100049中国科学院光电信息处理重点实验室, 辽宁 沈阳 110016辽宁省图像理解与视觉计算重点实验室, 辽宁 沈阳 110016
郝颖明:中国科学院沈阳自动化研究所, 辽宁 沈阳 110016中国科学院大学, 北京 100049中国科学院光电信息处理重点实验室, 辽宁 沈阳 110016辽宁省图像理解与视觉计算重点实验室, 辽宁 沈阳 110016
付双飞:中国科学院沈阳自动化研究所, 辽宁 沈阳 110016中国科学院光电信息处理重点实验室, 辽宁 沈阳 110016辽宁省图像理解与视觉计算重点实验室, 辽宁 沈阳 110016
范晓鹏:中国科学院沈阳自动化研究所, 辽宁 沈阳 110016中国科学院大学, 北京 100049中国科学院光电信息处理重点实验室, 辽宁 沈阳 110016辽宁省图像理解与视觉计算重点实验室, 辽宁 沈阳 110016

联系人作者:滕玉坤(tengyukun@sia.cn)

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引用该论文

Teng Yukun,Hao Yingming,Fu Shuangfei,Fan Xiaopeng. Calibration Technology of Visual Measurement System Based on Position Sensitive Detector[J]. Laser & Optoelectronics Progress, 2018, 55(8): 081202

滕玉坤,郝颖明,付双飞,范晓鹏. 基于位置敏感器件的视觉测量系统标定技术[J]. 激光与光电子学进展, 2018, 55(8): 081202

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