平面带约束线轮廓点集配准的手眼标定方法OA

The complex of traditional calibration operation and difficulty in processing calibration reference object may lead to low calibration accuracy.To address these issues,a hand-eye calibration method was proposed by using registration for constrained contour point sets and 2D laser scanners.It was formulated by a planar right-angled triangle as a calibration reference object.Firstly,the calibration idea of the regis-tration method with constrained contour point sets was elucidated.The calibration process was then intro-duced based on the designed asymmetric right-angled triangle reference object.Secondly,a constrained point sets registration model was established with the contour information of the triangle.It utilized a coarse registration method by corner points to narrow the spatial search range,followed by a precise regis-tration according to the constraint relationship between feature points and contour lines.Finally,an opti-mal solution to fit the contour feature was obtained by the covariance matrix adaptive evolution strategy.Besides,the profile loss error evaluation criteria were introduced to assess the performance of the calibra-tion results.The first calibration experimental results show that the average profile loss error under 12 ro-bot pose combinations is 0.084 2,the average fitting deviation of the reconstructed sphere diameter is 0.018 5 mm,and the maximum projection error of the sphere is 0.065 mm,which indicate fine calibration stability,efficiency,and accuracy.The second experiment is carried out with three different poses of the calibration object.The calculated parameters are used to fit a standard sphere,and both the diameter fit-ting deviations and the standard deviation of projection error are lower than 0.1 mm.The mean standard deviation of the fitted spherical center coordinates is 0.101 mm,lower than the 0.148 7 mm obtained by the one-step method.It indicates high robustness,efficiency,and versatility,which can meet industrial calibration accuracy requirements.