一种新的线结构光标定方法 
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Calibration Method for Line-Structured Light
图 & 表
图 1. 相机透视投影模型
Fig. 1. Camera perspective projection model
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图 2. 线结构光传感器示意图
Fig. 2. Diagram of line-structured light sensor
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图 3. 线结构光标定流程图
Fig. 3. Flow chart of calibration for line-structured light
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图 4. 光平面标定拍摄图像
Fig. 4. Images taken by light plane calibration
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图 5. 柴油机缸盖实物图
Fig. 5. Picture of engine cylinder head
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图 6. 封装后三维点云图。(a)俯视图;(b)前视图
Fig. 6. Three-dimensional point clouds after encapsulation. (a) Top view; (b) front view
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表 1两种标定方法的标定结果
Table1. Calibration results of two calibration methods
| Method of calibration | Number of feature points | Equation of light plane |
|---|
| Invariance of cross-ratio | 8 | 0.999438X-0.0333133Y-0.00363374Z+68.6157=0 | | Our method | All feature points on the light stripe | 0.999414X-0.0340966Y+0.00295146Z+65.1016=0 |
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表 2两种标定方法的标定结果的评估结果
Table2. Evaluation results of calibration results of two calibration methods
| Method ofcalibration | Number offeature points | Sum of thedistances /mm |
|---|
| Invariance ofcross-ratio | All feature points | 32.74879 | | Out method | All feature points | 31.73931 |
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表 3基于所提的标定方法的气缸盖测量结果
Table3. Measurement results of cylinder head based on proposed method
| Gascavity | X direction | Y direction | Z direction |
|---|
| Stand-ard /mm | Meas-ured /mm | Absoluteerror /mm | Relativeerror /% | Stand-ard /mm | Meas-ured /mm | Absoluteerror /mm | Relativeerror /% | Stand-ard /mm | Meas-ured /mm | Absoluteerror /mm | Relativeerror /% |
|---|
| A1 | 261.12 | 261.21 | 0.09 | 0.034 | 47.30 | 47.21 | 0.09 | 0.190 | / | / | / | / | | B1 | 261.12 | 261.09 | 0.03 | 0.011 | 0.00 | 0.10 | 0.10 | / | / | / | / | / | | C1 | 274.82 | 274.90 | 0.08 | 0.029 | 131.65 | 131.69 | 0.04 | 0.030 | 52.30 | 52.64 | 0.34 | 0.650 | | A2 | 130.56 | 130.50 | 0.06 | 0.045 | 47.30 | 47.25 | 0.05 | 0.105 | / | / | / | / | | B2 | 130.56 | 130.63 | 0.07 | 0.053 | 0.00 | 0.09 | 0.09 | / | / | / | / | / | | C2 | 144.26 | 144.35 | 0.09 | 0.062 | 131.65 | 131.60 | 0.05 | 0.037 | 52.30 | 52.56 | 0.26 | 0.497 | | A3 | 0 | 0.08 | 0.08 | / | 47.30 | 47.40 | 0.10 | 0.211 | / | / | / | / | | B3 | 0 | 0 | 0 | / | 0 | 0.09 | 0.09 | / | / | / | / | / | | C3 | 13.70 | 13.75 | 0.05 | 0.360 | 131.65 | 131.70 | 0.05 | 0.037 | 52.30 | 52.65 | 0.35 | 0.669 | | A4 | 130.56 | 130.62 | 0.06 | 0.045 | 47.30 | 47.40 | 0.10 | 0.211 | / | / | / | / | | B4 | 130.56 | 130.48 | 0.08 | 0.061 | 0.00 | 0.06 | 0.06 | / | / | / | / | / | | C4 | 116.86 | 116.96 | 0.10 | 0.085 | 131.65 | 131.60 | 0.05 | 0.037 | 52.30 | 52.45 | 0.15 | 0.287 |
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表 4基于交比不变性的标定方法的气缸盖测量结果
Table4. Measurement results of cylinder head obtained by cross ratio invariance based calibration method
| Gascavity | X direction | Y direction | Z direction |
|---|
| Stand-ard /mm | Meas-ured /mm | Absoluteerror /mm | Relativeerror /% | Stand-ard /mm | Meas-ured /mm | Absoluteerror /mm | Relativeerror /% | Stand-ard /mm | Meas-ured /mm | Absoluteerror /mm | Relativeerror /% |
|---|
| A1 | 261.12 | 261.21 | 0.09 | 0.034 | 47.30 | 47.21 | 0.09 | 0.190 | / | / | / | / | | B1 | 261.12 | 261.09 | 0.03 | 0.011 | 0.00 | 0.11 | 0.11 | / | / | / | / | / | | C1 | 274.82 | 274.90 | 0.08 | 0.029 | 131.65 | 131.97 | 0.32 | 0.243 | 52.30 | 52.99 | 0.69 | 1.319 | | A2 | 130.56 | 131.20 | 0.64 | 0.490 | 47.30 | 47.16 | 0.14 | 0.295 | / | / | / | / | | B2 | 130.56 | 130.16 | 0.40 | 0.306 | 0.00 | 0.38 | 0.38 | / | / | / | / | / | | C2 | 144.26 | 144.88 | 0.62 | 0.429 | 131.65 | 131.97 | 0.32 | 0.243 | 52.30 | 53.21 | 0.91 | 1.739 | | A3 | 0 | -0.08 | 0.08 | / | 47.30 | 47.45 | 0.15 | 0.317 | / | / | / | / | | B3 | 0 | 0 | 0 | / | 0 | 0 | 0 | / | / | / | / | / | | C3 | 13.70 | 13.75 | 0.05 | 0.360 | 131.65 | 131.97 | 0.32 | 0.243 | 52.30 | 52.64 | 0.34 | 0.650 | | A4 | 130.56 | 130.33 | 0.23 | 0.176 | 47.30 | 46.93 | 0.37 | 0.782 | / | / | / | / | | B4 | 130.56 | 130.38 | 0.18 | 0.137 | 0.00 | 0.15 | 0.15 | / | / | / | / | / | | C4 | 116.86 | 117.22 | 0.36 | 0.308 | 131.65 | 131.97 | 0.32 | 0.243 | 52.30 | 52.46 | 0.16 | 0.305 |
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张瑞峰, 舒子芸, 南刚雷. 一种新的线结构光标定方法[J]. 激光与光电子学进展, 2019, 56(22): 221101. Ruifeng Zhang, Ziyun Shu, Ganglei Nan. Calibration Method for Line-Structured Light[J]. Laser & Optoelectronics Progress, 2019, 56(22): 221101.
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