Abstract：A novel calibration algorithm is presented to integrate structured-light vision sensor into coordinate measuring machine.The system modeling is decomposed into two interactive parts:establishing the model of structured-light vision sensor and calculating the transformation between skewed vision sensor and CMM Cartesian world frame. A B-spline function is applied to approximate the mapping model of structuredlight vision sensor in the skewed sensor frame. Given initial coordinate transformation matrix, sample points for establishing B-spline function in the skewed sensor frame is calculated and B-spline function can be obtained by an iterative adjustment approach. Then, a nonlinear constrainted optimization algorithm is used to adjust the coordinate transformation matrix and B-spline function model of vision sensor is refreshed. The above procedure is repeated until an stable optimal transformation matrix is obtained. an experiment is presented.
1 Che Cheng gang,Ni Jun. Modeling and Calibration of a Structured-light Optical CM Mvia Skewed Frame Representation. Transactions of the ASME, Journal of Manufacturing Science and Engineering, 1996, 118(5):595～603 2 刘志刚, 方勇等. 线结构光三维视觉传感器的一种B样条神经网络模型. 机械科学与技术, 1999, 18(1) 3 李万松, 苏显渝. 激光片光三维传感器的直接映射方法. 光学学报, 1997, 17(4)