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Theoretical and Experiment Research on the Calibration Method of 3d Laser Scanning System

Author: ShiLu
Tutor: DuZhengChun
School: Shanghai Jiaotong University
Course: Mechanical Manufacturing and Automation
Keywords: 3D laser measurement system Calibration method Linear feature extraction Plane projective transformation
CLC: TP391.41
Type: Master's thesis
Year: 2010
Downloads: 255
Quote: 2
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Abstract


On-line measurement of the size of large forgings forging an important part of online measurement requirements under high temperature in the forging process, the forging of the size and shape of the detection, to determine if it meets the requirements of the process document. There are fundamental shortcomings due to traditional contact measurement, the hot-line measurement of large forgings in the development of the non-contact measurement direction. Compared with contact measurement, non-contact dimensional measurement has the advantages of high speed, high accuracy, good repeatability and non-contact measurement. Based on the time-of-flight method of laser distance sensor is a typical non-contact measurement equipment, it is widely used in mobile robot positioning, navigation, target identification and tracking, scene reconstruction field. In this paper, two-dimensional laser distance sensor and servo motor combination to create a non-contact 3D laser measurement system for three-dimensional data of large forgings. For the measurement system, the calibration step is very critical, and it is the follow-up system to guarantee accurate measurement. Around the three-dimensional laser measuring system calibration, this article is mainly carried out the following work: 1, three-dimensional laser measuring system calibration method. According to this article structures the structural characteristics of the measurement system, we define the three coordinate system. On this basis, the three-dimensional laser measuring system calibration parameter defines a parameter matrix and an outer parameter matrix, and thus the calibration simplify the problem for solving the problem of the two parameter matrix, and identified by calculation based on the closed kinematic chain Thought ideas and methods of the two matrices. Then according to the principle of projective geometry and matrix transformations, based on a positioning method for mobile robot applications in the field of further proposed for this measurement platform calibration method to calculate the measurement system calibration parameters. Plane scan data calibration object linear feature extraction method. Calibration method to achieve the proposed process, from the first plane scan data to extract the calibration object line corresponding to the intersection of this plane. This article summarizes some of the methods of plane linear feature extraction, on this basis, combined with the calibration data of the object corresponding to the characteristics, the idea of ??the step-by-step process the data, the linear feature extraction methods for this article calibration object to obtain the calibration object corresponding a straight line and the intersection of these straight lines. 3, experiments and analysis of the calibration method. By numerical simulation, we first verify the feasibility of the calibration method, then experiments were carried out in the three-dimensional laser measuring system platform. According to the experimental results, we have analyzed the reasons for the errors, and proposes an improved method. Online non-contact measurement of large forgings size as the background, to build a three-dimensional laser measuring system using two-dimensional laser distance sensor and servo motor. System parameter calibration method based on the structural characteristics of the system, and related content, experiments were carried out on the system platform and analysis. Calibration of this article is the basis of the follow-up study of this topic, and at the same time we use the calibration method can be applied to similar measurement system.

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