Combined line laser 3D measurement method based on binocular vision

Abstract

With the continuous development of domestic and foreign manufacturing industries, there are limitations in the omnidirectional three-dimensional measurement of large parts. In order to improve the 3D measurement range, speed, and accuracy of single-line lasers, a combined measurement method based on binocular vision positioning technology is proposed. First, the circular markers are pasted around the line laser sensor, and a virtual intermediate coordinate system is constructed based on the centers of the marked points. Secondly, a feature point energy matching algorithm is used to complete the corresponding points matching of the circular markers, and the position of the circular markers is solved based on the SVD method. Third, the relative pose relationship between the virtual intermediate coordinate system and the line laser sensor coordinate system is completed based on the hand-eye calibration model. Fourth, combined with the circular markers pose and relative pose, the local point cloud data of the line laser is unified into the global coordinate system to realize point cloud splicing. The experimental results show that the average measurement error of the measurement system is less than 0.23 mm, which basically meets the requirements of general shape measurement.