【摘要】：便攜式測(cè)量臂和激光掃描測(cè)頭手眼關(guān)系的確定是便攜式激光掃描測(cè)量臂系統(tǒng)中的關(guān)鍵問題。針對(duì)測(cè)量臂末端相對(duì)運(yùn)動(dòng)旋轉(zhuǎn)軸之間的夾角和測(cè)量臂與掃描測(cè)頭相對(duì)運(yùn)動(dòng)的旋轉(zhuǎn)角差值這兩個(gè)影響手眼標(biāo)定精度的因素,設(shè)定激光掃描測(cè)量臂標(biāo)定數(shù)據(jù)篩選原則,提出一種基于隨機(jī)采樣一致性的自適應(yīng)閾值手眼標(biāo)定算法。蒙特卡洛仿真實(shí)驗(yàn)和激光掃描測(cè)量臂實(shí)測(cè)實(shí)驗(yàn)結(jié)果表明,提出的算法對(duì)四元數(shù)方法求解的相對(duì)旋轉(zhuǎn)軸和平移向量誤差標(biāo)準(zhǔn)差精度分別提高了2.42%,4.14%,可以滿足便攜式激光掃描測(cè)量臂系統(tǒng)的測(cè)量精度要求。
[Abstract]:The determination of the relationship between the portable measuring arm and the hand-eye of the laser scanning probe is a key problem in the portable laser scanning measuring arm system. Aiming at the two factors which affect the precision of hand-eye calibration, the angle between the measuring arm and the scanning probe and the difference of the angle between the measuring arm and the scanning probe, the calibration data screening principle of laser scanning arm is set up. An adaptive hand-eye calibration algorithm based on random sampling consistency is proposed. The results of Monte Carlo simulation experiment and laser scanning measuring arm experiment show that the accuracy of the error standard deviation of relative rotation axis and translation vector solved by the proposed algorithm is improved by 2.42 and 4.14, respectively. It can meet the precision requirement of portable laser scanning measuring arm system.
【作者單位】： 北京信息科技大學(xué)光電測(cè)試技術(shù)北京市重點(diǎn)實(shí)驗(yàn)室;北京郵電大學(xué)信息光子學(xué)與光通信研究院;
【基金】：國(guó)家重大科學(xué)儀器設(shè)備開發(fā)專項(xiàng)(No.2013YQ22089304) 光電測(cè)試技術(shù)北京市重點(diǎn)實(shí)驗(yàn)室開放課題(No.GDKF2016005)
【分類號(hào)】：TN249

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