A Position and Attitude Measurement Method Based on Laser Displacement Sensor and Infrared Vision Camera

Abstract

The position and attitude measurement of objects plays an important role in industrial manufacture and inspection. However, in the existing measurement methods, the challenges brought by the environmental uncertainty to the visual measurement algorithm and the coordinate conversion errors caused by the joint measurement of various precision equipment will lead to poor accuracy and stability. In this paper, a measurement method is proposed to measure the object’s position and attitude based on laser displacement sensor and infrared vision camera. Firstly, when measuring the position and attitude, the combination of infrared vision camera and measurement target is an effective method to solve the challenges brought by environmental changes and measurement target changes in visual measurement methods. In addition, the measurement results and data of the whole system need not be converted between multiple coordinate systems, which avoids the complexity of system calculation and coordinate conversion errors. Through position and attitude measuring experiments, the position measurement error is 2.6 mm and the attitude angle measurement error is 1.1°, which verifies the feasibility and stability of the method.