| WANG Shihao,QIAO Zhifeng,HUANG Jiahao.A calibration method of external parameters of 2D laser in rotary 3D scanning[J].Optoelectronics Letters,2022,(12):730-736 |
| A calibration method of external parameters of 2D laser in rotary 3D scanning |
| Author Name | Affiliation | | WANG Shihao | Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China
National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384, China | | QIAO Zhifeng | Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China
National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384, China | | HUANG Jiahao | Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China
National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384, China |
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| Abstract: |
| Aiming at the problem of external parameter calibration in the combined rotating three-dimensional (3D) scanning process of laser radar and turntable, a fast 3D data scanning and accurate equipment calibration method suitable for industrial application scenarios is proposed. The coordinates of the center of the circle in the laser radar coordinate system are obtained by fitting the coordinates of the center of the circle with the scanning arc. Through the standard size and rotation angle of the target ball, the coordinates of the ball center in the turntable coordinate system are obtained. The rotation parameter R and the translation parameter T of the minimum value of the data set conversion error function in the two coordinate systems are calculated. The experimental results show that the error between the converted data and the actual data is within 0.1 mm, which meets the actual work requirements. This calibration method has the advantages of high accuracy and strong robustness. |
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