光学精密工程2025，Vol.33Issue(16)：2552-2564,13.DOI:10.37188/OPE.20253316.2552
顾及多尺度深度误差的3D手眼标定方法
3D hand-eye calibration method considering multi-scale depth errors
摘要
Abstract
Point cloud sensors usually have depth errors,and the existing hand-eye calibration methods rarely take this factor into account,which leads to the applicability of hand-eye matrices at different scales.A high-precision hand-eye calibration method based on alternating least squares optimization was pro-posed.First,by fitting the plane and voxels of the calibration plate to uniformly downsample,the point cloud data of the near,middle and far scales were preprocessed,and the density of the point cloud of the calibration plate at different scales was unified;Secondly,the GICP(Generalized-ICP)algorithm was used to obtain the registration matrix of the point cloud,and the initial value of the hand-eye matrix of each scale was solved,the hand-eye matrix of one scale was fixed alternately,and the least-squares problem of rotation translation error is constructed to optimize the registration parameters of the remaining scales.Fi-nally,the Tsai-Lenz method was recalibrated based on the optimized registration matrix of each scale,and the hand-eye matrix to compensate for the depth error was obtained.The comparative experimental results show that the average error of the rotation matrix is 0.144 8°,the average error of the translation vector is 0.633 5 mm,and the root mean square error of the point cloud registration using the hand-eye matrix is 0.276 9 mm.Compared with the calibration ball method,the point cloud registration error of the near fo-cus distance is reduced by 19%on average,and the point cloud registration error of the far focus distance is reduced by 16%on average.The method in this paper can effectively reduce the influence of depth error on calibration accuracy and improve applicability.关键词
深度误差/手眼标定/结构光/点云配准Key words
depth error/hand-eye calibration/structured light/point cloud registration分类
信息技术与安全科学引用本文复制引用
江以恒,李佳田,刘佳音,何烽,张鹏..顾及多尺度深度误差的3D手眼标定方法[J].光学精密工程,2025,33(16):2552-2564,13.基金项目
国家自然科学基金地区项目(No.41561082) （No.41561082）
