A Six-Degree-of-Freedom Measurement Method Based on Swinging Multi-Camera Tracking

Camera number	Direction of vector	Rotor position /mm
1	（ $-$ 0.1160， $-$ 0.1418，0.9806）	（ $-$ 658.7489， $-$ 1074.9006，-386.7177）
2	（ $-$ 0.0847， $-$ 0.1431，0.9848）	（ $-$ 531.9968， $-$ 2435.9139，164.5024）
3	（ $-$ 0.1252， $-$ 0.1641，0.9758）	（978.2982， $-$ 1087.7999， $-$ 379.5933）
4	（ $-$ 0.0630， $-$ 0.1267，0.9889）	（1081.4482， $-$ 2440.2953，172.4289）
5	（ $-$ 0.0713， $-$ 0.1669，0.9834）	（3095.5413， $-$ 998.1450， $-$ 552.5604）
6	（ $-$ 0.0395， $-$ 0.1703，0.9477）	（3230.9355， $-$ 2372.0032， $-$ 28.6980）
7	（ $-$ 0.0632， $-$ 0.1483，0.9869）	（4777.4057， $-$ 910.4445， $-$ 690.2436）
8	（ $-$ 0.0561， $-$ 0.1524，0.9857）	（4879.9684， $-$ 2280.2362， $-$ 135.5598）

Table 2. Three-dimensional coordinate measurement accuracy (comparison reference: laser tracker)
View table
Table 2. Three-dimensional coordinate measurement accuracy (comparison reference: laser tracker)
Type of measurement Root mean square（RMS）error /mm Max error /mm
X Y Z Magnitude X Y Z Magnitude
Mobile measurement 0.07 0.07 0.05 0.12 0.19 0.12 0.10 0.20
Swing measurement 0.05 0.07 0.07 0.11 0.10 0.13 0.17 0.20

Table 3. Pose estimation accuracy (comparison reference: laser tracker)
View table
Table 3. Pose estimation accuracy (comparison reference: laser tracker)
Type of measurement Euler angle RMS error /（°） Transition error /mm
α β θ RMS error
Mobile measurement 0.00500 0.00364 0.01169 0.18
Swing measurement 0.00623 0.04228 0.00053 0.18

Table 4. Three-dimensional coordinate measurement accuracy (comparison reference: mobile measurement)

View table

Table 4. Three-dimensional coordinate measurement accuracy (comparison reference: mobile measurement)

Type of measurement	RMS error /mm				Max error /mm
Type of measurement	X	Y	Z	Magnitude	X	Y	Z	Magnitude
Swing measurement（10 times）	0.03	0.05	0.02	0.07	0.08	0.11	0.07	0.12
Swing measurement（3 times）	0.07	0.06	0.07	0.11	0.16	0.11	0.13	0.19
Fixed measurement	0.10	0.15	0.11	0.21	0.25	0.28	0.21	0.40

Table 5. Pose estimation accuracy (comparison reference: mobile measurement)

View table

Table 5. Pose estimation accuracy (comparison reference: mobile measurement)

Type of measurement	Euler angle RMS error /（°）			Transition error /mm
Type of measurement	α	β	θ	RMS error
Swing measurement（10 times）	0.0111	0.0014	0.0089	0.07
Swing measurement（3 times）	0.0249	0.0005	0.0012	0.13
Fixed measurement	0.0515	0.0156	0.0182	0.70

Table 6. Repeatability accuracy error
View table
Table 6. Repeatability accuracy error
Type of measurement RMS error /mm Max error /mm
Mobile measurement 0.02 0.04
Swing measurement（10 times） 0.04 0.07
Swing measurement（3 times） 0.08 0.17
Fixed measurement 0.11 0.20

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Shouqin Cao, Zijie Sun, Ze Yang, Yanbiao Sun, Jigui Zhu. A Six-Degree-of-Freedom Measurement Method Based on Swinging Multi-Camera Tracking[J]. Laser & Optoelectronics Progress, 2023, 60(3): 0312019

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Paper Information

Category: Instrumentation, Measurement and Metrology

Received: Oct. 17, 2022

Accepted: Nov. 30, 2022

Published Online: Feb. 28, 2023

The Author Email: Sun Yanbiao (yanbiao.sun@tju.edu.cn), Zhu Jigui (jiguizhu@tju.edu.cn)

DOI:10.3788/LOP222786

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Parameters of rotation axis

Table 1. Parameters of rotation axis

Table 2. Three-dimensional coordinate measurement accuracy (comparison reference: laser tracker)

Table 2. Three-dimensional coordinate measurement accuracy (comparison reference: laser tracker)

Table 3. Pose estimation accuracy (comparison reference: laser tracker)

Table 3. Pose estimation accuracy (comparison reference: laser tracker)

Table 4. Three-dimensional coordinate measurement accuracy (comparison reference: mobile measurement)

Table 4. Three-dimensional coordinate measurement accuracy (comparison reference: mobile measurement)

Table 5. Pose estimation accuracy (comparison reference: mobile measurement)

Table 5. Pose estimation accuracy (comparison reference: mobile measurement)

Table 6. Repeatability accuracy error

Table 6. Repeatability accuracy error