Multi-pose coupled transformation calibration for combined tracking-based optical measurement

Renchuan YANG; Haihua CUI; Xifu ZHAO; Ronghui GUO; Tao JIANG

doi:10.37188/OPE.20243217.2686

Optics and Precision Engineering, Volume. 32, Issue 17, 2686(2024)

Multi-pose coupled transformation calibration for combined tracking-based optical measurement

Renchuan YANG1... Haihua CUI1,*, Xifu ZHAO1, Ronghui GUO1 and Tao JIANG2 |Show fewer author(s)

¹College of Mechanical and Electrical Engineering， Nanjing University of Aeronautics and Astronautics， Nanjing2006， China

²College of Mechanical and Electrical Engineering， Suqian University， Suqian3800， China

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Figures & Tables(13)

Fig. 1. Schematic diagram of common calibration board

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Fig. 2. Schematic diagram of multi-position combination transit pose calibration

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Fig. 3. Experimental platform of combined vision measurement system

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Fig. 4. LCS measurement error absolute value and average error

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Fig. 5. Fixed target base and target balls

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Fig. 6. Line diagram of multi-position single-point coupling calibration error absolute value

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Fig. 7. Line diagram of multi-position and multi-point coupling calibration error absolute value

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Fig. 8. Standard spacing of mark points at both ends of a standard bar

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Fig. 9. Multi-position single point coupling calibration combined measurement error

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Fig. 10. Multi-positions multi-point coupling calibration combined measurement error

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Table 1. Internal and external parameters and distortion coefficients of LCS systems

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Table 1. Internal and external parameters and distortion coefficients of LCS systems

LCS system	Intrinsic parameter	Distortion coefficient	Extrinsic parameters
Left Camera	$[\begin{matrix} 2520.28 & 0 & 666.53 \\ 0 & 2519.64 & 494.38 \\ 0 & 0 & 1 \end{matrix}]$	$[\begin{array}{r} - 0.096 5 \\ 0.593 9 \\ - 0.000 33 \\ \begin{matrix} 0.001 29 \\ - 2.012 7 \end{matrix} \end{array}]$	$R = [\begin{matrix} 0.815 8 & 0.058 6 & 0.575 3 \\ - 0.054 5 & 0.998 2 & - 0.024 3 \\ - 0.575 7 & - 0.011 5 & 0.817 6 \end{matrix}]$
Right Camera	$[\begin{matrix} 2545.52 & 0 & 630.78 \\ 0 & 2545.32 & 516.04 \\ 0 & 0 & 1 \end{matrix}]$	$[\begin{matrix} - 0.099 \\ 0.475 4 \\ - 0.001 22 \\ \begin{matrix} - 0.001 08 \\ - 1.476 \end{matrix} \end{matrix}]$	$T = [\begin{matrix} - 334.09 \\ 9.243 \\ 115.87 \end{matrix}]$

Table 2. Three-dimensional coordinates of three-point target ball measured by laser tracker
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Table 2. Three-dimensional coordinates of three-point target ball measured by laser tracker
Point X Y Z
P₁ 1 608.631 4 -677.280 8 -100.613 0
P₂ 1 624.353 6 -764.594 2 -104.755 6
P₃ 1 606.240 3 -678.687 1 -37.339 7

Table 3. Results of multi-position single-point coupling and multi-position multi-point coupling

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Table 3. Results of multi-position single-point coupling and multi-position multi-point coupling

$M_{6 D}^{L C}$	$R_{6 D}^{L C}$	$T_{6 D}^{L C}$ /mm
Single point solution	$[\begin{matrix} - 0.480 1 & - 0.114 3 & - 0.868 4 \\ 0.874 8 & - 0.056 0 & - 0.478 6 \\ 0.001 3 & - 0.994 3 & 0.131 9 \end{matrix}]$	$[\begin{matrix} 79.419 \\ - 106.34 \\ - 258.42 \end{matrix}]$
Multipoint coupled solution	$[\begin{matrix} - 0.480 8 & - 0.115 7 & - 0.869 1 \\ 0.875 6 & - 0.061 8 & - 0.476 1 \\ 0.001 2 & - 0.994 3 & 0.131 4 \end{matrix}]$	$[\begin{matrix} 79.746 \\ - 107.53 \\ - 258.26 \end{matrix}]$

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Renchuan YANG, Haihua CUI, Xifu ZHAO, Ronghui GUO, Tao JIANG. Multi-pose coupled transformation calibration for combined tracking-based optical measurement[J]. Optics and Precision Engineering, 2024, 32(17): 2686

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Paper Information

Category: Precision Measurement and Sensing

Received: May. 22, 2024

Accepted: --

Published Online: Nov. 18, 2024

The Author Email: CUI Haihua (cuihh@nuaa.edu.cn)

DOI:10.37188/OPE.20243217.2686

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Internal and external parameters and distortion coefficients of LCS systems

Table 1. Internal and external parameters and distortion coefficients of LCS systems

Table 2. Three-dimensional coordinates of three-point target ball measured by laser tracker

Table 2. Three-dimensional coordinates of three-point target ball measured by laser tracker

Table 3. Results of multi-position single-point coupling and multi-position multi-point coupling

Table 3. Results of multi-position single-point coupling and multi-position multi-point coupling

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