Calibration Method for the Eye-in-hand Relationship of the Robot Vision Based on Large Depth-of-field Portable 3-D Scanner

摘要

To satisfy the request of robot vision,the depth-of-view of a portable 3-D laser scanner is successfully extended by tilting the image plane according to the Scheimpflug condition.The depth-ofview of the scanner is divided into two parts and calibrated respectively to improve the measurement accuracy.The laser 3-D scanner is used by a 6-DOF robot to extend the scanning range.Using a sphere with a known diameter as calibration tool,a new method is proposed to decompose the transformation matrix and determine the rotation matrix and translation vector of the laser scanner's coordinates relative to the robot respectively.Experimental results show that this calibration algorithm is robust and the measurement accuracy is 0.2 mm.The application of scanning a tap and a lamina is also given to demonstrate the effectiveness and high precision of our system.