提出了一种基于正交柱面成像相机的大尺寸三维坐标测量方法。正交柱面成像相机由一个正交柱面成像光学系统和两个正交放置的线阵CCD组成, 它们分别被用来检测被测点的水平角和垂直角。一个相机决定了两个角度, 两个相机交汇, 即可实现被测点的三维坐标测量。所提出的方法在精密坐标测量特别是动态位置跟踪方面具有突出的优势。一个灵活的内参标定方法被用来标定正交柱面成像相机, 内参标定后相机在水平方向和垂直方向角度测量误差的均值分别为1.85″和2.16″。另外, 双相机的外参标定也被介绍, 外参标定后系统的坐标测量精度优于0.52 mm。实验结果表明: 所提出的三维坐标测量方法有效, 具有良好的测量精度。

A large-scale 3D coordinate measurement method based on orthogonal cylindrical imaging cameras was proposed. The camera was consisted of one orthogonal cylindrical imaging system and two orthogonal linear CCDs, which were used to detect the horizontal angle and vertical angle of a measurement point, respectively. One camera determined two angles, therefore, the 3D coordinate of the measurement point can be measured by the intersection of two cameras. The proposed method has prominent advantages in precise coordinate measurement and especially in dynamic position-tracking. A flexible intrinsic parameters calibration method was used to calibrate the orthogonal cylindrical imaging cameras. After intrinsic parameters calibration, the average of angle measurement error in the horizontal and vertical direction of the camera is 1.85″ and 2.16″, respectively. In addition, the extrinsic parameters calibration of the two cameras is also introduced. After extrinsic parameters calibration, the coordinate measurement accuracy of the system is better than 0.52 mm. The experimental results show that the proposed 3D coordinate measurement method is valid with good measurement accuracy.