Implementation and calibration of a multi sensor measuring system

摘要

We present our work on the implementation and calibration of a multi sensor measuring system. The work is part of a large scale research project on optical measurement using sensor actuator coupling and active exploration. This project is a collaboration of researchers from seven institutes of the University of Stuttgart including photogrammetry, mechanical engineering and computer science. The system consists of optical sensors which can be manipulated in position and orientation by robot actuators, and light sources which control illumination. The system performs different tasks including object recognition, localization and gauging. Flexibility is achieved by replacing the common serial measurement chain by nested control loops involving autonomous agents which perform basic tasks in a modular fashion. The system is able to inspect and gauge several parts from a set of parts stored in a 3-D model database. The paper gives an overview of the entire system and details some of the photogrammetry-related aspects such as the calibration of the different sensors (cameras, stereo-head, stripe projector), the calibration of the measurement robot using photogrammetric measurements, as well as data processing steps like segmentation, object pose determination, and gauging.