顾及多尺度深度误差的3D手眼标定方法

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关键词：深度误差；手眼标定；结构光；点云配准

中图分类号：TP391.41文献标识码：A

doi：10.37188/OPE.20253316.2552 CSTR：32169.14.OPE.20253316.2552

3D hand-eye calibration method considering multi-scale depth errors

JIANG Yiheng，LI Jiatian*，LIU Jiayin，HE Feng，ZHANG Peng （Faculty of Land Resources Engineering，Kunming Unioersity of Science and Technology， Kunming 650093，China） * Corresponding author， E -mail： ljtwcx@163. com

Abstract：Point cloud sensors usually have depth errors，and the existing hand-eye calibration methods rarely take this factor into account，which leads to the applicability of hand-eye matrices at diferent scales. A high-precision hand-eye calibration method based on alternating least squares optimization was pro posed.First，by fiting the plane and voxels of the calibration plate to uniformly downsample，the point cloud data of the near，middle and far scales were preprocessed，and the density of the point cloud of the calibration plate at different scales was unified；Secondly，the GICP（Generalized-ICP）algorithm was used to obtain the registration matrix of the point cloud，and the initial value of the hand-eye matrix of each scale was solved，the hand-eye matrix of one scale was fixed alternately，and the least-squares problem of rotation translation eror is constructed to optimize the registration parameters of the remaining scales. Finally，the Tsai-Lenz method was recalibrated based on the optimized registration matrix of each scale，and the hand-eye matrix to compensate for the depth error was obtained.The comparative experimental results show that the average error of the rotation matrix is 0.1448∘ ，the average error of the translation vector is （204号 0.6335mm ，and the root mean square error of the point cloud registration using the hand-eye matrix is 0.2769mm . Compared with the calibration ball method，the point cloud registration error of the near focus distance is reduced by 19% on average，and the point cloud registration error of the far focus distance is reduced by 16% on average. The method in this paper can effectively reduce the influence of depth error on calibration accuracy and improve applicability.

Key Words： depth error; hand-eye calibration； structured light;point cloud registration

1引言

在计算机视觉和机器人领域，手眼标定对于提高自动化有重要意义[1-3]。（剩余16011字）