On Structured Light Vision Sensor Calibration in a Robot Based 3D Laser Scanning System

摘要：

A robot based 3D laser scanning system which a structured light vision sensor is mounted on the 6 degree-offreedom robot is proposed to overcome the disadvantages of coordinate measuring machine (CMM). As to calibrate the vision sensor, a novel procedure that utilizes the robot to generate sufficient calibration points with high accuracy is proposed. An improved Tsais method and a multilayer perceptron neural network (MLPNN) approach to calibrate the vision sensor are presented. The experimental performance comparisons are made between the above two approaches. Results demonstrate that both of the two presented methods can achieve an accurate model for the structured light vision sensor.

作者: Tiecheng Fan Defeng Wu Zi Ma Aiguo Li

作者单位: Automation Research Center,Dalian Maritime University,Dalian,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1312-1316

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）