A new tetrahedron-target-based approach is presented for the extrinsic calibration of a non-contact “light-striping” (structured light) optical coordinate measuring machine (CMM). The procedure makes automated on-line calibration possible. The system modeling is based on a unique skewed frame representation without the use of pin-hole camera model assumption. It is demonstrated that the extrinsic calibration matrix can be decomposed into two classes of transformations, one homogeneous and the other nonhomogeneous. The nonhomogeneous transformation between a Cartesian world frame and the non-Cartesian skewed sensor frame is studied. The sensitivity of the dimensional deformation on the two skew angles is simulated. Experimental studies show that a micron level calibration accuracy can be achieved.
Issue Section:
Research Papers
1.
Agin, G. J., 1985, “Calibration and Use of a Light Stripe Range Sensor Mounted on the Hand of a Robot,” Proceedings of the IEEE International Conference on Robotics and Automation, St. Louis.
2.
Agin, G. J., and Binford, T. O., 1973, “Computer Description of Curved Objects,” Proceedings of the 3rd International Joint Conference on Artificial Intelligence, Stanford, CA., pp. 629–640.
3.
Agin, G. J., and Highnam, P. T., 1982, “Movable Light-stripe Sensor for Obtaining Three-dimensional Coordinate Measurement,” Proceedings of the SPIE International Tech. Sym., San Diego, CA., Aug. 21–27, pp. 326–333.
4.
Aromat Corporation, 1992, “Technical Manual: MQ Laser Analog Sensor.”
5.
Bradley, C, and Vickers, G. W., 1992, “Automated Rapid Prototyping Utilizing Laser Scanning and Free-Form Machining,” Annals of CIRP, pp. 437–440.
6.
Champ, P., 1992, “Scanning the Third Dimension,” Image Processing, December.
7.
Chesapeake Laser, 1994, “Chesapeake Laser Systems—SpatialMetrix News-letter,” CLSMX, Kennett Square, PA.
8.
Che, C, 1995, “Multi-axis, Three-dimensional, Structured-light Laser Scanning System: Modeling, Calibration, and Measurement Uncertainty Assessment,” Ph.D. Dissertation, the University of Michigan, Ann Arbor.
9.
Chen, C. H., and Kak, A. C., 1987, “Modeling and Calibration of a Structured Light Scanner for 3-D Robot Vision,” Proceedings of the 1987 IEEE International Conference on Robotics and Automation, CH2413-3, pp. 807–815, 1987.
10.
Chen, Y., 1991, “Free Form Curve and Surface Measurement, Modeling and Machining,” Ph.D. dissertation, the University of Michigan, Ann Arbor.
11.
Craig, J. J., 1992, Introduction to Robotics: Mechanics and Control, 2nd edition, Addison-Wesley.
12.
CyberOptics, 1992, “CyberScan, Measurement Systems: Non-contact Data Acquisition and Measurement,” CyberOptics Corporation.
13.
Dewar, R., 1994, Personal Communication.
14.
Dewar, R., 1988, “Self-Generated Targets for Spatial Calibration of Structured- Light Optical Sectioning Sensors with Respect to an External Coordinate System,” SME Vision ’88 Conference Proceedings, Detroit, MI, June, 1988.
15.
Dewar, R., and Greer, D. R., 1989, “Method and Apparatus for Calibrating a Non-Contact Gauging Sensor with Respect to an External Coordinate System,” United States Patent, Number 4,841,460.
16.
Digibotics, 1994, “Automated 4-axis 3D Laser Digitizing,” product catalogue, Digibotics, Inc., Austin, TX.
17.
Geometric Research, 1994, preliminary data sheet, Geometric Research Inc., Bob Thoreson, (206) 820–0574.
18.
Goh
K. H.
Phillips
N.
Bell
R.
1985
, “The Applicability of the Laser Triangulation Probe to Non-contacting Inspection
,” International Journal of Production
, Vol. 24
, No. 6
, pp. 1331
–1348
.19.
Greer, D. R., 1988, “On-line Machine Vision Sensor Measurements in a Coordinate System,” SME Vision ’88 Conference Proceedings, Detroit, MI, June, 1988.
20.
Horn, B. K. P., 1986, Robot Vision, the MIT Press, Cambidge, Massachusetts, p. 462.
21.
Hymarc, 1994, Production Information, Ottawa, Ontario, Canada.
22.
Keyence, 1993, “LB Series Laser Displacement Sensors,” Catalog No. MLBKJ-02, Keyence Corporation, Japan.
23.
Mansbach
P.
1986
, “Calibration of a Camera and Light Source by Fitting to Physical Model
,” Computer Vision, Graphics, Image Processing
, Vol. 35
, pp. 200
–219
.24.
Math Works, 1992, Matlab Optimization Toolbox User’s Guide, the Math Works, Inc., Natick, Massachusetts, December, 1992.
25.
Okada Co., Ltd., 1992, “Vigitizer: Non Contact Laser Scanning Digitizing and 3D Modeling CAD/CAM System.” Perceptron, 1994a, “Contour Sensor Family,” Product catalogue, Perceptron, Inc., Farmington Hills, MI.
26.
Perceptron, 1994a, “Contour Sensor Family,” Product catalogue, Perceptron, Inc., Farmington Hills, MI.
27.
Perceptron, 1994b, “TriCam: Non-contact Measurement Solutions,” Product catalogue, Perceptron, Inc., Farmington Hills, MI.
28.
Popplestone, R. J., Brown, C. M., Ambler, A. P., and Crawford, G. F., 1975, “Forming Models of Plane-and-cylinder Faceted Bodies from Light Stripes,” Proc. 4th International Joint Conference on Artificial Intelligence, pp. 664–668.
29.
Sami, 1994, “Smartprox Sensors,” Product Catalogue, Sensor Adaptive Machines Inc., Windsor, Ont., Canada.
30.
Saito
K.
Miyoshi
T.
1991
, “Non-contact 3-D Digitizing and Machining System for Free-form Surfaces
,” Annals of the CIRP
, Vol. 40/1
, pp. 483
–486
.31.
Selcom, 1993, “OPTOCATOR, the Rapid, Accurate, Non-contact Measurement System,” Selective Electronic, Inc. product catalog.
32.
Theodoracatos
V. E.
Calkins
D. E.
1993
, “A 3-D Vision System Model for Automatic Object Surface Sensing
,” International Journal of Computer Vision
, 11:1
, pp. 75
–99
.33.
3D Technology, 1994, “Optica: Non-contact Laser Based Scanners for CNC/CMM Machines,” 3D Technology, Inc., Trumbull, CT.
34.
Venture Laser Technologies, Inc., 1993, “3D Laser Digitizing Systems, Software, and Services.”
35.
Wang
C. C.
1992
, “Extrinsic Calibration of a Vision Sensor Mounted on an Robot
,” IEEE Journal of Robotics and Automation
, Vol. 8
, No. 2
, April, pp. 161
–175
, 1992.36.
Wang, W. W., 1991, “Accuracy Analysis of an In-line Optical Coordinate Measuring Machine (IOCMM),” Ph.D. dissertation, the University of Michigan.
37.
Will
P. M.
Pennington
K. S.
1971
, “Grid Coding: Preprocessing Technique for Robot and Machine Vision
,” Artificial Intelligence
, Vol. 2
, No. 3
, pp. 319
–329
.38.
Will
P. M.
Pennington
K. S.
1972
, “Grid Coding: Novel Technique for Image Processing
,” Proceedings of IEEE
, Vol. 60
, No. 6
, pp. 669
–680
.
This content is only available via PDF.
Copyright © 1996
by The American Society of Mechanical Engineers
You do not currently have access to this content.
