Multi-view coordinate system transformation based on robot

The registration of point cloud is important for large object measurement. A measurement method for coordinate sys- tem transformation based on robot is proposed in this paper. Firstly, for obtaining extrinsic parameters, the robot moves to three different positions to capture the images of three ta...

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Bibliographic Details
Published inOptoelectronics letters Vol. 11; no. 6; pp. 473 - 476
Main Author 宋丽梅 王朋强 习江涛 郭庆华 唐欢 李晶 李晓捷 朱腾达
Format Journal Article
LanguageEnglish
Published Tianjin Tianjin University of Technology 01.11.2015
Subjects
Lasers
Optical Devices
Optics
Photonics
Physics
Physics and Astronomy
变换矩阵
坐标系统
坐标系转换
多视图
多视点云
机器人
测量方法
物体测量
A
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Summary:The registration of point cloud is important for large object measurement. A measurement method for coordinate sys- tem transformation based on robot is proposed in this paper. Firstly, for obtaining extrinsic parameters, the robot moves to three different positions to capture the images of three targets. Then the transformation matrix X between camera and tool center point （TCP） coordinate systems can be calculated by using the known parameters of robot and the extrinsic parameters, and finally the multi-view coordinate system can be transformed into robot coordinate system by the transformation matrix X., With the help of robot, the multi-view point cloud can be easily transformed into a unified coordinate system. By using robot, the measurement doesn＇t need any mark. Experimental results show that the method is effective.
Bibliography:12-1370/TN
SONG Li-mei , WANG Peng-qiang , XI Jiang-tao,GUO Qing-hua, TANG Huan, LI Jing ,LI Xiao-jie , and ZHU Teng-da （ 1. Key Laboratory of Advanced Electrical Engineering and Energy Technology, Tianjin Polytechnic University, Tian- jin 300387, China 2. School of Electrical, Computer and Telecommunications Engineering, University of Wollongong, Keiraville 2500, Australia）
The registration of point cloud is important for large object measurement. A measurement method for coordinate sys- tem transformation based on robot is proposed in this paper. Firstly, for obtaining extrinsic parameters, the robot moves to three different positions to capture the images of three targets. Then the transformation matrix X between camera and tool center point （TCP） coordinate systems can be calculated by using the known parameters of robot and the extrinsic parameters, and finally the multi-view coordinate system can be transformed into robot coordinate system by the transformation matrix X., With the help of robot, the multi-view point cloud can be easily transformed into a unified coordinate system. By using robot, the measurement doesn＇t need any mark. Experimental results show that the method is effective.
ISSN:1673-1905
1993-5013
DOI:10.1007/s11801-015-5066-2