CN117911529A - Pose calibration method, pose calibration system and computing equipment - Google Patents

Pose calibration method, pose calibration system and computing equipment Download PDF

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Publication number
CN117911529A
CN117911529A CN202410020486.9A CN202410020486A CN117911529A CN 117911529 A CN117911529 A CN 117911529A CN 202410020486 A CN202410020486 A CN 202410020486A CN 117911529 A CN117911529 A CN 117911529A
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CN
China
Prior art keywords
laser
ranging sensor
array camera
laser ranging
area
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CN202410020486.9A
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Chinese (zh)
Inventor
刘坚
陈兵
索鑫宇
周飞滔
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Wuxi Xishan District Semiconductor Advanced Manufacturing Innovation Center
Hunan University
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Wuxi Xishan District Semiconductor Advanced Manufacturing Innovation Center
Hunan University
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Priority to CN202410020486.9A priority Critical patent/CN117911529A/en
Publication of CN117911529A publication Critical patent/CN117911529A/en
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Abstract

The invention discloses a pose calibration method, a pose calibration system and a computing device, wherein the pose calibration method comprises the following steps: collecting first image data and first laser distance data of a checkerboard calibration plate; collecting second image data and second laser distance data of the checkerboard calibration plate from a plurality of postures; determining an area-array camera reference based on the first image data; establishing a vertical area array camera coordinate system and a checkerboard calibration plate coordinate system, and determining a linear equation of the laser ranging sensor; determining an external parameter of the area array camera based on image data of the internal parameter of the area array camera and the checkerboard calibration plate, and determining a laser spot coordinate set under the coordinate system of the area array camera; acquiring a plurality of groups of data corresponding to coordinates and distances of the checkerboard calibration plate; and fitting based on the laser spot coordinate set to form a space straight line, and determining the direction vector of the space straight line as an optical axis direction vector value of the laser ranging sensor, thereby determining an origin coordinate value of the laser ranging sensor. The invention can improve the calibration efficiency of the space pose relationship between the laser ranging sensor and the area array camera.

Description

Pose calibration method, pose calibration system and computing equipment
Technical Field
The invention relates to the technical field of visual detection, in particular to a pose calibration method, a pose calibration system and computing equipment.
Background
At present, with the development of visual detection and image processing technologies, a single two-dimensional detection means cannot meet the detection of higher requirements, and an area array camera-laser ranging sensor combination system has been widely applied to the field of three-dimensional measurement due to the characteristics of simple structure, high measurement efficiency, non-contact and the like. In practical engineering application, high-flexibility and flexible measurement of products is realized by carrying a visual sensor on an industrial six-axis mechanical arm, and the mechanical arm becomes a research hot spot in the field of machine vision application.
The calibration of the space pose of the laser ranging sensor and the plane array camera is a key step for realizing three-dimensional measurement of the plane array camera-laser ranging sensor combination system, and the widely used calibration method in the prior art is completed through a three-dimensional calibration block, so that the calibration method cannot be effectively combined with a camera calibration flow, and the calibration complexity is increased.
Therefore, there is a need for a pose calibration method for calibrating the spatial pose between a laser ranging sensor and an area camera, so as to solve the problems in the above technical solutions.
Disclosure of Invention
Therefore, the invention provides a pose calibration method and a pose calibration system, which are used for solving or at least alleviating the problems existing above.
According to one aspect of the present invention, there is provided a pose calibration method for calibrating a spatial pose relationship between a laser ranging sensor and an area array camera of a measurement system, the measurement system being adapted to be arranged in front of a checkerboard calibration plate, the method comprising: the first image data and the first laser distance data of the checkerboard calibration plates arranged at a plurality of positions are respectively collected through the area array camera and the laser distance sensor; acquiring second image data and second laser distance data of the checkerboard calibration plate arranged at a preset position from a plurality of postures through the area array camera and the laser distance sensor respectively; performing internal reference calibration on the area-array camera based on first image data of checkerboard calibration plates arranged at a plurality of positions to determine an area-array camera internal reference; establishing an area array camera coordinate system at an optical center of the area array camera, establishing a checkerboard calibration plate coordinate system at a first corner of a checkerboard calibration plate, and determining a linear equation of the laser ranging sensor based on an origin coordinate of the laser ranging sensor and an optical axis direction vector of the laser ranging sensor under the area array camera coordinate system; determining the external parameters of the area array camera corresponding to the current checkerboard calibration plate based on the internal parameters of the area array camera and the image data of the current checkerboard calibration plate; determining a plurality of coordinate values of the laser spots under the plane array camera coordinate system based on the plane array camera external parameters and the chess board grid calibration plate coordinate system to obtain a laser spot coordinate set under the plane array camera coordinate system; processing each first image data, each second image data, each first laser distance data and each second laser distance data to obtain a plurality of groups of coordinates and distance corresponding data of the checkerboard calibration plate; fitting and forming a space straight line based on a laser spot coordinate set under an area array camera coordinate system, and determining a direction vector of the space straight line as an optical axis direction vector value of the laser ranging sensor; and determining an origin coordinate value of the laser ranging sensor based on the linear equation of the laser ranging sensor, the optical axis direction vector value of the laser ranging sensor and the data corresponding to the multiple groups of coordinates and distances.
Optionally, in the pose calibration method according to the present invention, determining a linear equation of the laser ranging sensor based on an origin coordinate of the laser ranging sensor and an optical axis direction vector of the laser ranging sensor in an area camera coordinate system includes: under the coordinate system of the area array camera, defining the origin coordinate of the laser ranging sensor as P L0(xL0,yL0,zL0), and defining the optical axis direction vector of the laser ranging sensor asDetermining a linear equation of the laser ranging sensor as/>, based on the defined origin coordinates of the laser ranging sensor and the optical axis direction vector of the laser ranging sensorWherein t represents a length coefficient; determining an origin coordinate value of the laser ranging sensor based on a linear equation of the laser ranging sensor, and an optical axis direction vector value of the laser ranging sensor, the plurality of sets of coordinates and distance correspondence data, including: substituting the optical axis direction vector value of the laser ranging sensor, the multiple sets of coordinates and the distance corresponding data into a linear equation of the laser ranging sensor, and taking the corresponding laser distance data as a length coefficient value to obtain an origin coordinate value of the laser ranging sensor.
Optionally, in the pose calibration method according to the present invention, determining a plurality of coordinate values of the laser spot under the coordinate system of the area camera based on the external parameter of the area camera and the coordinate system of the checkerboard calibration plate includes: defining the coordinates of the laser spots under a checkerboard calibration plate coordinate system; determining an expression of the laser light spot under the coordinate system of the area array camera based on the external parameters of the area array camera and the coordinates of the laser light spot under the coordinate system of the checkerboard calibration plate; establishing a pixel coordinate system on an image plane of an area array camera; based on the pixel coordinate system, determining a proportional relation of the coordinate size of the projection points of the laser light spots on the checkerboard calibration plate to the row and column directions; and determining a plurality of coordinate values of the laser spot under the area array camera coordinate system based on the expression of the laser spot under the area array camera coordinate system and the proportional relation.
Optionally, in the pose calibration method according to the present invention, determining a plurality of coordinate values of the laser spot in the area array camera coordinate system based on the expression of the laser spot in the area array camera coordinate system and the proportional relation includes: and determining a plurality of coordinate values of the laser spot under the planar array camera coordinate system based on the expression of the laser spot under the planar array camera coordinate system, the proportional relation, the laser spot row direction projection point, the laser spot column direction projection point, the image plane uplink direction shadow eliminating point and the image plane column direction shadow eliminating point.
Optionally, in the pose calibration method according to the present invention, the method further includes: the laser ranging sensor of the measuring system and the area array camera are arranged at the tail end of the industrial mechanical arm in advance, so that a laser spot formed by the laser ranging sensor on the checkerboard calibration plate is positioned at the center of the visual field of the area array camera when the area array camera images clearly; the relative position of the laser ranging sensor and the area array camera is kept unchanged.
Optionally, in the pose calibration method according to the present invention, acquiring, by the area camera and the laser ranging sensor, second image data and second laser distance data of a checkerboard calibration plate arranged at a predetermined position from a plurality of poses, respectively, includes: arranging the checkerboard calibration plate at a preset position; and driving the area-array camera and the laser ranging sensor to move through an industrial mechanical arm so that the area-array camera and the laser ranging sensor acquire second image data and second laser distance data of the checkerboard calibration plate arranged at the preset position from a plurality of postures respectively.
Optionally, in the pose calibration method according to the present invention, the method further includes: and performing hand-eye calibration on the area array camera and the industrial mechanical arm based on second image data of the checkerboard calibration plates which are respectively acquired from the plurality of postures and are arranged at the preset positions.
Optionally, in the pose calibration method according to the present invention, the first image data and the first laser distance data of the checkerboard calibration plates arranged at a plurality of positions are collected by the area camera and the laser distance sensor, respectively, including: respectively arranging checkerboard calibration plates at a plurality of positions in front of the measuring system; and aiming at the checkerboard calibration plates arranged at each position, respectively acquiring first image data and first laser distance data of the checkerboard calibration plates through the area array camera and the laser distance sensor.
Optionally, in the pose calibration method according to the present invention, fitting based on a laser spot coordinate set under an area-array camera coordinate system to form a spatial straight line includes: and fitting based on a laser spot coordinate set under an area array camera coordinate system to form a space straight line by using a least square method.
According to one aspect of the present invention, there is provided a pose calibration system comprising: a measurement system, the measurement system being in front of which is adapted to arrange a checkerboard calibration plate, comprising: an area camera adapted to acquire first image data of the checkerboard calibration plates arranged at a plurality of positions and adapted to acquire second image data of the checkerboard calibration plates arranged at predetermined positions from a plurality of attitudes; the laser ranging sensor is suitable for collecting first laser distance data of the checkerboard calibration plates arranged at a plurality of positions and collecting second laser distance data of the checkerboard calibration plates arranged at preset positions from a plurality of postures; the computing device is suitable for executing the method to calibrate the space pose relation between the laser ranging sensor of the measuring system and the area array camera.
According to one aspect of the invention, there is provided a computing device comprising: at least one processor; and a memory storing program instructions, wherein the program instructions are configured to be suitable for execution by the at least one processor, the program instructions comprising instructions for performing the pose calibration method as described above.
According to one aspect of the present invention, there is provided a readable storage medium storing program instructions that, when read and executed by a computing device, cause the computing device to perform the pose calibration method as described above.
According to the technical scheme, the invention provides the pose calibration method and the pose calibration system, wherein the self calibration and the hand-eye calibration flow of the area array camera are combined in the process of calibrating the space pose relationship between the laser ranging sensor of the measurement system and the area array camera, and the laser ranging sensor laser distance data are synchronously acquired when the image data of the checkerboard calibration plate are acquired, so that the calibration of the area array camera and the calibration of the space pose relationship between the laser ranging sensor and the area array camera can be simultaneously completed. Therefore, according to the pose calibration method, the spatial pose relation calibration flow between the laser ranging sensor and the area array camera can be effectively combined with the camera calibration flow, so that the efficiency of calibrating the spatial pose relation between the laser ranging sensor and the area array camera can be improved, and the complexity of the calibration flow is reduced.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
To the accomplishment of the foregoing and related ends, certain illustrative aspects are described herein in connection with the following description and the annexed drawings, which set forth the various ways in which the principles disclosed herein may be practiced, and all aspects and equivalents thereof are intended to fall within the scope of the claimed subject matter. The above, as well as additional objects, features, and advantages of the present disclosure will become more apparent from the following detailed description when read in conjunction with the accompanying drawings. Like reference numerals generally refer to like parts or elements throughout the present disclosure.
FIG. 1 shows a schematic diagram of a pose calibration system 100 provided according to an embodiment of the invention;
FIG. 2 illustrates a schematic diagram of a computing device 200 provided in accordance with an embodiment of the invention;
Fig. 3 shows a schematic flow chart of a pose calibration method 300 according to an embodiment of the present invention;
FIG. 4 is a schematic diagram showing the calibration of the spatial pose relationship between a laser ranging sensor and an area array camera according to an embodiment of the present invention;
Fig. 5 shows a schematic diagram of positioning a projection point of a laser spot in a row-column direction on an image plane according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The pose calibration method provided by the embodiment of the invention can be implemented in a pose calibration system, and can be used for calibrating the spatial pose relationship between the laser ranging sensor of the measurement system and the area array camera. The pose calibration system of the present invention is described below.
Fig. 1 shows a schematic diagram of a pose calibration system 100 according to an embodiment of the invention.
In an embodiment of the present invention, as shown in FIG. 1, the pose calibration system 100 includes a measurement system, a computing device 200 communicatively coupled to the measurement system. The measurement system includes an area camera 110 and a laser ranging sensor 120. The computing device 200 may be communicatively coupled to the laser ranging sensor 120, the area camera 110, respectively, of the measurement system such that the computing device 200 may control the operation of the laser ranging sensor 120, the area camera 110, and may obtain data from the laser ranging sensor 120, the area camera 110.
In an embodiment of the invention, a checkerboard calibration plate may be arranged in front of the measurement system. The area camera 110 may acquire first image data of the checkerboard calibration plates arranged at a plurality of positions, and may acquire second image data of the checkerboard calibration plates arranged at predetermined positions from a plurality of poses.
The laser ranging sensor 120 may collect first laser distance data of the checkerboard calibration plates arranged at a plurality of positions, and may collect second laser distance data of the checkerboard calibration plates arranged at predetermined positions from a plurality of poses.
Specifically, the computing device 200 may control the area camera 110 to collect first image data of the checkerboard calibration plates arranged at a plurality of positions, and may control the laser ranging sensor 120 to collect first laser distance data of the checkerboard calibration plates arranged at a plurality of positions. In addition, the computing device 200 may control the area camera 110 to collect second image data of the checkerboard calibration plate arranged at a predetermined position from a plurality of poses, and may control the laser ranging sensor 120 to collect second laser distance data of the checkerboard calibration plate arranged at a predetermined position from a plurality of poses.
In some embodiments, the laser ranging sensor 120 of the measurement system and the area camera 110 may be mounted at the end of the industrial robot in advance, so that the laser spot formed by the laser ranging sensor 120 on the checkerboard calibration plate is located at the center of the field of view of the area camera 110 when the area camera 110 images clearly. Specifically, the installation angle of the laser ranging sensor 120 can be adjusted to ensure that the laser spot formed by the laser ranging sensor 120 on the checkered calibration plate is located at the center of the field of view of the area camera 110 when the area camera 110 images clearly, so that the installation is completed. After the installation is completed, the relative positions of the laser ranging sensor 120 and the area camera 110 are kept unchanged. In one implementation, the industrial robot may be a six-axis industrial robot.
In an embodiment of the present invention, the computing device 200 may perform an internal reference calibration of the area camera 110 based on the first image data of the checkerboard calibration plates arranged at a plurality of positions to determine an area camera 110 internal reference. In some embodiments, the computing device 200 may also perform hand-eye calibration of the area camera 110 and the industrial robot based on second image data of the checkerboard calibration plate disposed at a predetermined position acquired from the plurality of poses, respectively.
In an embodiment of the present invention, the computing device 200 may build an area camera coordinate system at the optical center of the area camera 110 and may build a checkerboard calibration plate coordinate system at the first corner of the checkerboard calibration plate. Then, a linear equation of the laser ranging sensor 120 may be determined based on the origin coordinates of the laser ranging sensor 120 and the optical axis direction vector of the laser ranging sensor 120 in the area camera coordinate system.
In an embodiment of the present invention, the computing device 200 may determine, based on the internal parameters M of the area camera 110 and the image data of the current checkerboard calibration plate, the external parameters of the area camera 110 corresponding to the current checkerboard calibration plate.
In an embodiment of the present invention, the computing device 200 may determine a plurality of coordinate values of the laser spot under the planar array camera coordinate system based on the planar array camera 110 external parameter and the checkerboard calibration plate coordinate system, and may obtain the laser spot coordinate set under the planar array camera coordinate system based on the plurality of coordinate values of the laser spot under the planar array camera coordinate system.
In an embodiment of the present invention, the computing device 200 may process each first image data, each second image data, each first laser distance data, and each second laser distance data, to obtain a plurality of sets of coordinate and distance correspondence data of the checkerboard calibration plate.
In an embodiment of the present invention, the computing device 200 may form a spatial straight line based on the laser spot coordinate set fitting in the area camera coordinate system, and may determine a direction vector of the spatial straight line as an optical axis direction vector value of the laser ranging sensor 120.
In an embodiment of the present invention, the computing device 200 may determine the origin coordinate value of the laser ranging sensor 120 based on the above-obtained linear equation of the laser ranging sensor 120, and the optical axis direction vector value, the plurality of sets of coordinates and the distance correspondence data of the laser ranging sensor 120.
It should be noted that the geometric properties and attitudes of the internal and external participating cameras of the camera are related. Intrinsic parameters of the camera are parameters describing the internal properties of the camera, including focal length, principal point (optical center) coordinates, distortion coefficients, etc. The internal references are typically determined at camera calibration because they are typically fixed for a particular camera model and do not change over time. Once the camera parameters are determined, the parameters typically remain unchanged during use of the camera. The external parameters of a camera are parameters describing the position and pose of the camera in the world coordinate system, typically comprising a rotation matrix and translation vectors. The external parameters may change at different camera positions or shooting moments. If the camera does not change position and orientation, e.g. the camera is fixed in a fixed position, the external parameters may remain unchanged for a long period of time. However, if the position or direction of the camera changes, for example, the camera is moved or the photographing angle is changed, the external parameters are changed accordingly.
In an embodiment of the present invention, the computing device 200 may be configured to perform the pose calibration method 300 in an embodiment of the present invention. The pose calibration method 300 according to the embodiment of the present invention will be described in detail below.
According to the pose calibration system 100 provided by the embodiment of the invention, in the process of calibrating the spatial pose relationship between the laser ranging sensor of the measurement system and the area array camera, the self-calibration and the hand-eye calibration flow of the area array camera are combined, and when the image data of the checkerboard calibration plate are collected, the laser distance data of the laser ranging sensor are synchronously collected, so that the calibration of the area array camera and the calibration of the spatial pose relationship between the laser ranging sensor and the area array camera can be simultaneously completed. Therefore, according to the pose calibration system provided by the invention, the space pose relation calibration flow between the laser ranging sensor and the area array camera can be effectively combined with the camera calibration flow, so that the efficiency of calibrating the space pose relation between the laser ranging sensor and the area array camera can be improved, and the complexity of the calibration flow is reduced.
In some embodiments, the computing device 200 in the pose calibration system 100 may be implemented as the following computing device 200.
FIG. 2 illustrates a schematic diagram of a computing device 200 provided in accordance with an embodiment of the invention. As shown in FIG. 2, in a basic configuration, computing device 200 includes at least one processing unit 202 and a system memory 204. According to one aspect, the processing unit 202 may be implemented as a processor, depending on the configuration and type of computing device. The system memory 204 includes, but is not limited to, volatile storage (e.g., random access memory), non-volatile storage (e.g., read only memory), flash memory, or any combination of such memories. According to one aspect, an operating system 205 is included in system memory 204.
According to one aspect, operating system 205 is suitable for controlling the operation of computing device 200, for example. Further, examples are practiced in connection with a graphics library, other operating systems, or any other application program and are not limited to any particular application or system. This basic configuration is illustrated in fig. 2 by those components within the dashed line. According to one aspect, computing device 200 has additional features or functionality. For example, according to one aspect, computing device 200 includes additional data storage devices (removable and/or non-removable) such as, for example, magnetic disks, optical disks, or tape. Such additional storage is illustrated in fig. 2 by removable storage device 209 and non-removable storage device 210.
As set forth hereinabove, according to one aspect, program modules 203 are stored in system memory 204. According to one aspect, program module 203 may include one or more applications, the invention is not limited to the type of application, for example, the application may include: email and contacts applications, word processing applications, spreadsheet applications, database applications, slide show applications, drawing or computer-aided application, web browser applications, etc.
In an embodiment of the present invention, the program module 203 may include a plurality of program instructions to perform the pose calibration method 300 of the present invention.
According to one aspect, the examples may be practiced in a circuit comprising discrete electronic components, a packaged or integrated electronic chip containing logic gates, a circuit utilizing a microprocessor, or on a single chip containing electronic components or a microprocessor. For example, examples may be practiced via a system on a chip (SOC) in which each or many of the components shown in fig. 2 may be integrated on a single integrated circuit. According to one aspect, such SOC devices may include one or more processing units, graphics units, communication units, system virtualization units, and various application functions, all of which are integrated (or "burned") onto a chip substrate as a single integrated circuit. When operating via an SOC, the functionality described herein may be operated via dedicated logic integrated with other components of computing device 200 on a single integrated circuit (chip). Embodiments of the invention may also be practiced using other techniques capable of performing logical operations (e.g., AND, OR, AND NOT), including but NOT limited to mechanical, optical, fluidic, AND quantum techniques. In addition, embodiments of the invention may be practiced within a general purpose computer or in any other circuit or system.
According to one aspect, the computing device 200 may also have one or more input devices 212, such as a keyboard, mouse, pen, voice input device, touch input device, and the like. Output device(s) 214 such as a display, speakers, printer, etc. may also be included. The foregoing devices are examples and other devices may also be used. Computing device 200 may include one or more communication connections 216 that allow communication with other computing devices 218. Examples of suitable communication connections 216 include, but are not limited to: RF transmitter, receiver and/or transceiver circuitry; universal Serial Bus (USB), parallel and/or serial ports.
The term computer readable media as used herein includes computer storage media. Computer storage media may include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information (e.g., computer readable instructions, data structures, or program modules). System memory 204, removable storage 209, and non-removable storage 210 are all examples of computer storage media (i.e., memory storage). Computer storage media may include Random Access Memory (RAM), read Only Memory (ROM), electrically erasable read only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other article of manufacture that can be used to store information and that can be accessed by computing device 200. According to one aspect, any such computer storage media may be part of computing device 200. Computer storage media does not include a carrier wave or other propagated data signal.
According to one aspect, communication media is embodied by computer readable instructions, data structures, program modules, or other data in a modulated data signal (e.g., carrier wave or other transport mechanism) and includes any information delivery media. According to one aspect, the term "modulated data signal" describes a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. By way of example, and not limitation, communication media includes wired media such as a wired network or direct-wired connection, and wireless media such as acoustic, radio Frequency (RF), infrared, and other wireless media.
In an embodiment according to the invention, the computing device 200 is configured to perform the pose calibration method 300 according to the invention. The computing device 200 includes one or more processors and one or more readable storage media storing program instructions that, when configured to be executed by the one or more processors, cause the computing device 200 to perform the pose calibration method 300 in embodiments of the invention.
It should be noted that, by executing the pose calibration method 300 in the embodiment of the present invention, the spatial pose relationship between the laser ranging sensor and the area array camera of the measurement system can be calibrated, so that the three-dimensional measurement can be realized through the calibrated measurement system.
In an embodiment of the invention, a checkerboard calibration plate may be arranged in front of the measurement system.
In an embodiment of the present invention, the computing device 200 may be communicatively connected to a laser ranging sensor, an area camera, respectively, of a measurement system, such that the computing device 200 may control the operation of the laser ranging sensor, the area camera, and may obtain data from the laser ranging sensor, the area camera.
Fig. 3 shows a flowchart of a pose calibration method 300 according to an embodiment of the present invention. The pose calibration method 300 according to the embodiment of the present invention will be described below with reference to fig. 3.
As shown in fig. 3, the pose calibration method 300 includes the following steps 310 to 390.
In step 310, first image data and first laser distance data of checkerboard calibration plates arranged at a plurality of positions are acquired by an area camera and a laser distance sensor, respectively.
In an embodiment of the present invention, the computing device 200 may control operations of the area camera and the laser ranging sensor, and in particular may control the area camera to collect first image data of the checkerboard calibration plates disposed at a plurality of positions, and may control the laser ranging sensor to collect first laser distance data of the checkerboard calibration plates disposed at a plurality of positions. Further, the computing device 200 may acquire the first image data of the checkerboard calibration plates arranged at the plurality of positions acquired by the area array camera, and may acquire the first laser distance data of the checkerboard calibration plates arranged at the plurality of positions acquired by the laser ranging sensor. In this way, the computing device 200 can be enabled to acquire the first image data and the first laser distance data of the checkerboard calibration plates arranged at a plurality of positions, respectively, by the area camera and the laser distance sensor.
In some embodiments, during the execution of step 310, the checkerboard calibration plate may be disposed at a plurality of positions in front of the measurement system, respectively, and for the checkerboard calibration plate disposed at each position, the first image data and the first laser distance data of the checkerboard calibration plate may be acquired by the area camera and the laser distance sensor, respectively. Specifically, after each time the checkerboard calibration plate is arranged at one position in front of the measurement system, the computing device 200 may collect first image data of the checkerboard calibration plate at the position through the area array camera and collect first laser distance data of the checkerboard calibration plate through the laser ranging sensor, then the checkerboard calibration plate may be arranged at another position in front of the measurement system, then the computing device 200 may collect first image data of the checkerboard calibration plate at another position through the area array camera and collect first laser distance data of the checkerboard calibration plate at another position through the laser ranging sensor, and by repeating the above steps, it may be achieved that the first image data and the first laser distance data of the checkerboard calibration plate arranged at a plurality of positions are collected respectively through the area array camera and the laser ranging sensor.
In step 320, second image data and second laser distance data of the checkerboard calibration plate arranged at a predetermined position are acquired from the plurality of poses, respectively, by an area camera and a laser distance sensor.
In an embodiment of the present invention, the computing device 200 may control the area camera to collect second image data of the checkerboard calibration plate arranged at a predetermined position from a plurality of poses, and may control the laser ranging sensor to collect second laser distance data of the checkerboard calibration plate arranged at a predetermined position from a plurality of poses. Further, the computing device 200 may acquire second image data of the checkerboard calibration plate arranged at a predetermined position acquired from the plurality of poses by the area array camera, and may acquire second laser distance data of the checkerboard calibration plate arranged at a predetermined position acquired from the plurality of poses by the laser ranging sensor. In this way, it is possible to realize the computing device 200 that the second image data and the second laser distance data of the checkerboard calibration plate arranged at the predetermined positions are acquired from the plurality of poses, respectively, by the area camera and the laser distance sensor.
In some embodiments, before performing steps 310 and 320, the laser ranging sensor of the measurement system and the area camera may be mounted at the end of the industrial robot in advance, so that the laser spot formed by the laser ranging sensor on the checkerboard calibration plate is located at the center of the field of view of the area camera when the area camera images clearly. Specifically, the installation angle of the laser ranging sensor can be adjusted, so that the laser light spot formed by the laser ranging sensor on the checkerboard calibration plate is located at the center of the field of view of the area array camera when the area array camera images clearly, and the installation is completed. After the installation is completed, the relative positions of the laser ranging sensor and the area array camera are kept unchanged. In one implementation, the industrial robot may be a six-axis industrial robot.
In the process of executing step 320, the checkerboard calibration plate may be disposed at a predetermined position, and then the planar array camera and the laser ranging sensor are driven to move by the industrial mechanical arm, so that the pose of the planar array camera and the pose of the laser ranging sensor are adjusted multiple times, so that the planar array camera and the laser ranging sensor acquire the second image data and the second laser distance data of the checkerboard calibration plate disposed at the predetermined position from the multiple poses, respectively. Specifically, after the checkerboard calibration plate is arranged at the predetermined position, the area array camera and the laser ranging sensor can be driven to move by the industrial mechanical arm, after the postures of the area array camera and the laser ranging sensor are adjusted each time, the computing device 200 can acquire second image data of the checkerboard calibration plate arranged at the predetermined position from the current posture by the area array camera and can acquire second laser distance data of the checkerboard calibration plate arranged at the predetermined position from the current posture by the laser ranging sensor, so that after the postures of the area array camera and the laser ranging sensor are adjusted for a plurality of times, the second image data and the second laser distance data of the checkerboard calibration plate arranged at the predetermined position can be acquired from a plurality of postures by the area array camera and the laser ranging sensor respectively.
It should be noted that, in the embodiment of the present invention, the execution order of the steps 310 and 320 is not limited, and the steps 310 and 320 may be executed first, or the steps 320 may be executed first and then the steps 310 may be executed.
After performing step 310, step 330 may be performed.
In step 330, the computing device 200 may perform an internal reference calibration of the area camera based on the first image data of the checkerboard calibration plates disposed at the plurality of locations (i.e., the first image data obtained by performing step 310) to determine an area camera internal reference M.
It should be noted that, in the self-calibration process of the area-array camera, the image data of the checkerboard calibration plates disposed at the plurality of positions are required to be acquired, and in the pose calibration method 300 of the present invention, the step 310 is effectively combined with the internal reference calibration process of the area-array camera, that is, the first laser distance data of the checkerboard calibration plates disposed at the plurality of positions are acquired synchronously when the first image data of the checkerboard calibration plates disposed at the plurality of positions are acquired.
In some embodiments, the computing device 200 may also perform hand-eye calibration of the area camera and the industrial robot based on second image data of the checkerboard calibration plate disposed at the predetermined position (i.e., the second image data obtained by performing step 320) acquired from the plurality of poses, respectively.
In the hand-eye calibration process of the area camera and the industrial robot arm, image data of the checkerboard calibration plate disposed at the predetermined position needs to be collected from a plurality of poses, and in the pose calibration method 300 of the present invention, the second laser distance data of the checkerboard calibration plate disposed at the predetermined position is collected from the plurality of poses simultaneously when the second image data of the checkerboard calibration plate disposed at the predetermined position is collected from the plurality of poses through the step 320.
In step 340, an area camera coordinate system O c-XcYcZc may be established at the optical center of the area camera (the area camera of the current pose), and a checkerboard calibration plate coordinate system O b-XbYbZb may be established at the first corner of the checkerboard calibration plate. Then, a linear equation of the laser ranging sensor may be determined based on the origin coordinates of the laser ranging sensor and the optical axis direction vector of the laser ranging sensor in the area camera coordinate system.
The linear equation of the laser ranging sensor is a relational expression of the origin coordinates of the laser ranging sensor and the optical axis direction vector of the laser ranging sensor in the area camera coordinate system.
In the embodiment of the present invention, step 340 may be performed after the laser ranging sensor of the measurement system and the area camera are mounted at the end of the industrial robot so that the laser spot formed by the laser ranging sensor on the checkerboard calibration plate is located at the center of the field of view of the area camera when the area camera images clearly. Step 340 may be performed after steps 310 to 330 or may be performed before steps 310 to 330. The present invention is not limited to the order of execution herein.
In step 350, the area camera external parameters corresponding to the current checkerboard calibration plate (i.e., the external parameters of the area camera of the current pose) may be determined based on the area camera internal parameters M and the image data of the current checkerboard calibration plate.
In some embodiments, the image data of the current checkerboard calibration plate may be obtained from the first image data and the second image data acquired as described above.
Next, in step 360, a plurality of coordinate values of the laser spot in the area camera coordinate system may be determined based on the area camera external parameter and the checkerboard calibration plate coordinate system, and a laser spot coordinate set in the area camera coordinate system may be obtained based on the plurality of coordinate values of the laser spot in the area camera coordinate system.
In step 370, each first image data, each second image data, each first laser distance data, and each second laser distance data may be processed to obtain a plurality of sets of coordinate and distance correspondence data for the checkerboard calibration plate.
It can be understood that each first image data and each second image data are respectively the image data of the checkerboard calibration plate at different positions.
In some embodiments, for each first image data or each second image data of the checkerboard calibration plate, the intersection point of the first line angular point line and the last line angular point line of the checkerboard calibration plate on the image plane of the area array camera may be obtained respectively, and then, each first laser distance data and each second laser distance data may be combined to obtain multiple sets of coordinate and distance correspondence data of the checkerboard calibration plate.
In step 380, a spatial line may be formed based on the laser spot coordinate set fit in the area camera coordinate system, and a direction vector of the spatial line may be determined as an optical axis direction vector value of the laser ranging sensor.
In some embodiments, a spatial line may be formed based on a laser spot coordinate set fit in an area camera coordinate system using a least squares method.
Finally, in step 390, the origin coordinate value of the laser ranging sensor is determined based on the linear equation of the laser ranging sensor obtained in step 340, the optical axis direction vector value of the laser ranging sensor obtained in step 380, and the plurality of sets of coordinates and distance correspondence data obtained in step 370.
Thus, by executing the steps 310 to 390, the calibration of the spatial pose relationship between the laser ranging sensor and the area array camera can be completed.
After the calibration of the spatial pose relationship between the laser ranging sensor of the measuring system and the area array camera is completed, the three-dimensional measurement of the target object can be performed through the calibrated measuring system. The distance data of the target object collected by the laser ranging sensor can be converted into two-dimensional imaging depth data of the target object so as to realize three-dimensional measurement of the target object.
In some embodiments, in step 340, based on the origin coordinates of the laser ranging sensor and the optical axis direction vector of the laser ranging sensor in the area camera coordinate system, a specific manner of determining the linear equation of the laser ranging sensor is as follows: under the coordinate system of the area array camera, defining the origin coordinate of the laser ranging sensor as P L0(xL0,yL0,zL0), and defining the optical axis direction vector of the laser ranging sensor asBased on the defined origin coordinates of the laser ranging sensor and the optical axis direction vector of the laser ranging sensor, the linear equation of the laser ranging sensor can be determined as follows:
Where t represents a length coefficient.
Based on this, in step 390, the optical axis direction vector value of the laser ranging sensor, the plurality of sets of coordinates and the distance correspondence data may be substituted into the linear equation (1) of the laser ranging sensor, and the origin coordinate value of the laser ranging sensor may be obtained by using the corresponding laser distance data as the length coefficient value (t).
In some embodiments, in step 350, based on the image data of the area camera reference M and the current checkerboard calibration plate, the area camera reference corresponding to the determined current checkerboard calibration plate may be denoted as T (R, T), where T represents a length coefficient.
In step 370, based on the external parameters of the area array camera and the coordinate system of the calibration board of the checkerboard, the specific manner of determining the coordinate values of the laser spot under the coordinate system of the area array camera is as follows: first, the coordinates of the laser spot in the checkered calibration plate coordinate system can be defined. Then, based on the external parameters of the area array camera and the coordinates of the laser light spots under the coordinate system of the checkerboard calibration plate, the expression of the laser light spots under the coordinate system of the area array camera can be determined. Then, a pixel coordinate system can be established on the image plane of the area array camera, and a proportional relation of the coordinate size of the projection points of the laser light spots on the current checkerboard calibration plate to the row and column directions is determined based on the pixel coordinate system. Further, a plurality of coordinate values of the laser spot in the area camera coordinate system are determined based on the expression and the proportional relation of the laser spot in the area camera coordinate system.
In some embodiments, the plurality of coordinate values of the laser spot in the area camera coordinate system may be determined based on an expression of the laser spot in the area camera coordinate system, the above-described proportional relationship, a laser spot row-direction projection point (i.e., a laser spot projected onto the image plane in a row direction), a laser spot column-direction projection point (i.e., a laser spot projected onto the image plane in a column direction), an image plane up-direction vanishing point, and an image plane up-column direction vanishing point.
FIG. 4 is a schematic diagram showing the calibration of the spatial pose relationship between a laser ranging sensor and an area array camera according to an embodiment of the present invention; fig. 5 shows a schematic diagram of positioning a projection point of a laser spot in a row-column direction on an image plane according to an embodiment of the present invention.
The following describes a specific process of determining a plurality of coordinate values of a laser spot in an area camera coordinate system according to an embodiment of the present invention with reference to fig. 4 and 5.
First, the coordinates of the laser spot in the checkered calibration plate coordinate system may be defined as P b(xb,yb, 0).
Then, based on the external parameters T (R, T) of the area array camera and the coordinates P b(xb,yb, 0 of the laser spot in the coordinate system of the checkered calibration plate, the expression of the laser spot in the coordinate system of the area array camera can be determined:
Pc(xc,yc,zc)＝R·Pb+t (2)
Where t represents a length coefficient.
Next, for the area camera 110 of the current pose (i.e., the area camera corresponding to the current checkerboard calibration plate), a pixel coordinate system o-uv may be established on the image plane of the area camera 110, and based on the pixel coordinate system, a proportional relation of the size of the projected point coordinates of the laser spot formed by the laser ranging sensor 120 on the checkerboard calibration plate towards the row and column direction may be determined. The pixel coordinate of the laser spot on the image plane (i.e., the pixel point of the laser spot) may be defined as p (u 0,v0), the pixel coordinate of the first corner of the checkerboard calibration plate is p 1(u1,v1), the pixel coordinate of the first row end corner of the checkerboard calibration plate is p 2(u2,v2), the pixel coordinate of the first column end corner of the checkerboard calibration plate is p 3(u3,v3), and the pixel coordinate of the end corner of the checkerboard calibration plate is p 4(u4,v4.
And, according to perspective projection principle, the laser spot is consistent with the coordinate size of the projection point to the row and column directions on the image plane on the checkerboard calibration plate, so the proportional relation of the coordinate size of the projection point of the laser spot to the row and column directions on the checkerboard calibration plate (namely, the proportional relation of the coordinate size of the projection point of the laser spot in the row direction and the projection point of the laser spot in the column direction) can be determined based on the pixel coordinate system. The proportional relation is as follows:
In the formula, p r(ur',vr')、pc(uc',vc' respectively represents a projection point of a laser spot in a row direction on an image plane (abbreviated as a "projection point of the laser spot in the row direction"), and a projection point of the laser spot in a column direction on the image plane (abbreviated as a "projection point of the laser spot in the column direction"). W, H respectively represent the length of the current checkerboard calibration plate in the row and column directions, and x b,yb is the coordinate value of the P b point.
In addition, according to the perspective projection principle, the intersection point of a straight line formed by the vanishing point in the column direction on the image plane and the pixel point p (u 0,v0) of the laser spot and the straight line of the corner point of the first row of the checkered calibration plate is the projection point in the row direction of the laser spot, and can be obtained by the following equation:
where, (u c",vc ") is the pixel coordinates of the vanishing point in the column direction on the image plane.
Correspondingly, the intersection point of a straight line formed by the image plane upward direction shadow eliminating point and the laser spot pixel point p (u 0,v0) and the first angular point straight line of the checkered calibration plate is a laser spot column direction projection point, and can be obtained by the following equation:
Where, (u r",vr ") is the pixel coordinates of the vanishing point in the upward direction of the image plane.
According to the perspective projection principle, the intersection point of the first row angular point line and the last row angular point line of the checkerboard calibration plate on the image plane is the vanishing point in the upward direction of the image plane, and can be obtained by the following equation:
The intersection point of the first column angular point line and the last column angular point line of the checkerboard calibration plate on the image plane is the vanishing point in the column direction on the image plane, and can be obtained by the following equation:
by combining the above formulas (2) to (7), the value of P c(xc,yc,zc) can be determined, so that a plurality of coordinate values of the laser spot in the area camera coordinate system can be obtained.
In some embodiments, for each first image data and each second image data of the checkerboard calibration plate, the intersection point of the first line angular point line and the last line angular point line of the checkerboard calibration plate on the image plane can be obtained through the above (6), and then, multiple groups of coordinates and distance corresponding data of the checkerboard calibration plate can be obtained by combining each first laser distance data and each second laser distance data.
According to the pose calibration method 300, in the process of calibrating the spatial pose relationship between the laser ranging sensor of the measurement system and the area array camera, the self-calibration and the hand-eye calibration flow of the area array camera are combined, and when the image data of the checkerboard calibration plate are collected, the laser distance data of the laser ranging sensor are synchronously collected, so that the calibration of the area array camera and the calibration of the spatial pose relationship between the laser ranging sensor and the area array camera can be simultaneously completed. Therefore, according to the pose calibration method, the spatial pose relation calibration flow between the laser ranging sensor and the area array camera can be effectively combined with the camera calibration flow, so that the efficiency of calibrating the spatial pose relation between the laser ranging sensor and the area array camera can be improved, and the complexity of the calibration flow is reduced.
In addition, the embodiment of the invention further comprises: a8, the method of any of A1-A7, wherein acquiring, by the area camera and the laser ranging sensor, the first image data and the first laser distance data of the checkerboard calibration plate arranged at a plurality of positions, respectively, comprises: respectively arranging checkerboard calibration plates at a plurality of positions in front of the measuring system; and aiming at the checkerboard calibration plates arranged at each position, respectively acquiring first image data and first laser distance data of the checkerboard calibration plates through the area array camera and the laser distance sensor.
A9, the method of any of A1-A8, wherein fitting to form a spatial line based on a laser spot coordinate set under an area camera coordinate system comprises: and fitting based on a laser spot coordinate set under an area array camera coordinate system to form a space straight line by using a least square method.
The various techniques described herein may be implemented in connection with hardware or software or, alternatively, with a combination of both. Thus, the methods and apparatus of the present invention, or certain aspects or portions of the methods and apparatus of the present invention, may take the form of program code (i.e., instructions) embodied in tangible media, such as removable hard drives, U-drives, floppy diskettes, CD-ROMs, or any other machine-readable storage medium, wherein, when the program is loaded into and executed by a machine, such as a computer, the machine becomes an apparatus for practicing the invention.
In the case of program code execution on programmable computers, the mobile terminal will generally include a processor, a storage medium readable by the processor (including volatile and non-volatile memory and/or storage elements), at least one input device, and at least one output device. Wherein the memory is configured to store program code; the processor is configured to perform the pose calibration method of the present invention according to instructions in said program code stored in the memory.
By way of example, and not limitation, readable media comprise readable storage media and communication media. The readable storage medium stores information such as computer readable instructions, data structures, program modules, or other data. Communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. Combinations of any of the above are also included within the scope of readable media.
In the description provided herein, algorithms and displays are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with examples of the invention. The required structure for a construction of such a system is apparent from the description above. In addition, the present invention is not directed to any particular programming language. It will be appreciated that the teachings of the present invention described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present invention.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects.
Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in a device as described in this embodiment, or alternatively may be located in one or more devices different from the devices in this example. The modules in the foregoing examples may be combined into one module or may be further divided into a plurality of sub-modules.
Unless otherwise specified the use of the ordinal adjectives "first", "second", "third", etc., to describe a common object, merely indicate that different instances of like objects are being referred to, and are not intended to imply that the objects so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner.

Claims (10)

1. A pose calibration method for calibrating a spatial pose relationship between a laser ranging sensor and an area array camera of a measurement system, the measurement system being adapted to arrange a checkerboard calibration plate in front of the measurement system, the method comprising:
The first image data and the first laser distance data of the checkerboard calibration plates arranged at a plurality of positions are respectively collected through the area array camera and the laser distance sensor;
acquiring second image data and second laser distance data of the checkerboard calibration plate arranged at a preset position from a plurality of postures through the area array camera and the laser distance sensor respectively;
Performing internal reference calibration on the area-array camera based on first image data of checkerboard calibration plates arranged at a plurality of positions to determine an area-array camera internal reference;
establishing an area array camera coordinate system at an optical center of the area array camera, establishing a checkerboard calibration plate coordinate system at a first corner of a checkerboard calibration plate, and determining a linear equation of the laser ranging sensor based on an origin coordinate of the laser ranging sensor and an optical axis direction vector of the laser ranging sensor under the area array camera coordinate system;
Determining the external parameters of the area array camera corresponding to the current checkerboard calibration plate based on the internal parameters of the area array camera and the image data of the current checkerboard calibration plate;
Determining a plurality of coordinate values of the laser spots under the plane array camera coordinate system based on the plane array camera external parameters and the chess board grid calibration plate coordinate system to obtain a laser spot coordinate set under the plane array camera coordinate system;
Processing each first image data, each second image data, each first laser distance data and each second laser distance data to obtain a plurality of groups of coordinates and distance corresponding data of the checkerboard calibration plate;
Fitting and forming a space straight line based on a laser spot coordinate set under an area array camera coordinate system, and determining a direction vector of the space straight line as an optical axis direction vector value of the laser ranging sensor;
And determining an origin coordinate value of the laser ranging sensor based on the linear equation of the laser ranging sensor, the optical axis direction vector value of the laser ranging sensor and the data corresponding to the multiple groups of coordinates and distances.
2. The method of claim 1, wherein determining a linear equation for the laser ranging sensor based on origin coordinates of the laser ranging sensor and an optical axis direction vector of the laser ranging sensor in an area camera coordinate system comprises:
Under the coordinate system of the area array camera, defining the origin coordinate of the laser ranging sensor as P L0(xL0,yL0,zL0), and defining the optical axis direction vector of the laser ranging sensor as
Determining a linear equation of the laser ranging sensor as based on the defined origin coordinates of the laser ranging sensor and the optical axis direction vector of the laser ranging sensorWherein t represents a length coefficient;
Determining an origin coordinate value of the laser ranging sensor based on a linear equation of the laser ranging sensor, and an optical axis direction vector value of the laser ranging sensor, the plurality of sets of coordinates and distance correspondence data, including:
Substituting the optical axis direction vector value of the laser ranging sensor, the multiple sets of coordinates and the distance corresponding data into a linear equation of the laser ranging sensor, and taking the corresponding laser distance data as a length coefficient value to obtain an origin coordinate value of the laser ranging sensor.
3. The method of claim 1 or 2, wherein determining a plurality of coordinate values of the laser spot in the area camera coordinate system based on the area camera external reference and the checkerboard calibration plate coordinate system comprises:
defining the coordinates of the laser spots under a checkerboard calibration plate coordinate system;
Determining an expression of the laser light spot under the coordinate system of the area array camera based on the external parameters of the area array camera and the coordinates of the laser light spot under the coordinate system of the checkerboard calibration plate;
establishing a pixel coordinate system on an image plane of an area array camera;
Based on the pixel coordinate system, determining a proportional relation of the coordinate size of the projection points of the laser light spots on the checkerboard calibration plate to the row and column directions;
and determining a plurality of coordinate values of the laser spot under the area array camera coordinate system based on the expression of the laser spot under the area array camera coordinate system and the proportional relation.
4. The method of claim 3, wherein determining a plurality of coordinate values of the laser spot in the area camera coordinate system based on the expression of the laser spot in the area camera coordinate system and the proportional relation comprises:
And determining a plurality of coordinate values of the laser spot under the planar array camera coordinate system based on the expression of the laser spot under the planar array camera coordinate system, the proportional relation, the laser spot row direction projection point, the laser spot column direction projection point, the image plane uplink direction shadow eliminating point and the image plane column direction shadow eliminating point.
5. The method of any one of claims 1-4, further comprising:
The laser ranging sensor of the measuring system and the area array camera are arranged at the tail end of the industrial mechanical arm in advance, so that a laser spot formed by the laser ranging sensor on the checkerboard calibration plate is positioned at the center of the visual field of the area array camera when the area array camera images clearly;
the relative position of the laser ranging sensor and the area array camera is kept unchanged.
6. The method of claim 5, wherein acquiring, by the area camera, the laser ranging sensor, second image data, second laser ranging data of a checkerboard calibration plate arranged at a predetermined position, respectively, from a plurality of poses, comprises:
arranging the checkerboard calibration plate at a preset position;
And driving the area-array camera and the laser ranging sensor to move through an industrial mechanical arm so that the area-array camera and the laser ranging sensor acquire second image data and second laser distance data of the checkerboard calibration plate arranged at the preset position from a plurality of postures respectively.
7. The method of claim 5 or 6, further comprising:
and performing hand-eye calibration on the area array camera and the industrial mechanical arm based on second image data of the checkerboard calibration plates which are respectively acquired from the plurality of postures and are arranged at the preset positions.
8. A pose calibration system, comprising:
A measurement system, the measurement system being in front of which is adapted to arrange a checkerboard calibration plate, comprising:
An area camera adapted to acquire first image data of the checkerboard calibration plates arranged at a plurality of positions and adapted to acquire second image data of the checkerboard calibration plates arranged at predetermined positions from a plurality of attitudes;
The laser ranging sensor is suitable for collecting first laser distance data of the checkerboard calibration plates arranged at a plurality of positions and collecting second laser distance data of the checkerboard calibration plates arranged at preset positions from a plurality of postures;
a computing device adapted to perform the method of any of claims 1-7 to calibrate a spatial pose relationship between a laser ranging sensor of a measurement system and an area array camera.
9. A computing device, comprising:
At least one processor; and
A memory storing program instructions, wherein the program instructions are configured to be adapted to be executed by the at least one processor, the program instructions comprising instructions for performing the method of any of claims 1-7.
10. A readable storage medium storing program instructions which, when read and executed by a computing device, cause the computing device to perform the method of any of claims 1-7.
CN202410020486.9A 2024-01-05 2024-01-05 Pose calibration method, pose calibration system and computing equipment Pending CN117911529A (en)

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