视觉辅助下的激光振镜模型参数分步标定
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摘要
激光振镜内部结构较为复杂,如何对其进行高效、准确的标定一直都是基于激光振镜相关应用的核心问题。提出了一种基于模型参数分步式求解的激光振镜扫描系统标定算法。根据振镜扫描系统物理模型各参数对出射光光路产生的影响将其划分为影响出射光方向的参数和影响出射光位置的参数两类,并分别给出了求解方向参数与位置参数的优化模型。此外,分析了入射光方向偏差对现有反射镜偏转角度估计算法造成的影响,提出了相应的估计算法。以建立的系统模型为基础进行了模拟标定实验,模拟实验结果表明该算法具有良好的稳定性。利用标定好的实际振镜扫描系统完成了平面靶圆中心与空间闭合三维曲线的投影定位实验;靶圆中心的定位投影误差在0.5 mm左右,实际激光曲线与目标空间曲线在像平面内的位置偏差的均方根误差为0.42 pixel。
Due to the complex inner structure of the galvanometric laser scanning(GLS) system, the precise and efficient calibration is the core problem for the GLS-based applications. Based on the physical model of the GLS system, a two-step calibration method is proposed in this study. The parameters of the physical model are divided into two categories. The first are the direction parameters for determining the direction of the outgoing laser beams. The second are the position parameters for determining the positon of the outgoing laser beams. The optimization models for solving the direction parameters and the position parameters are given respectively. Besides, a new estimation is presented to solve the deflection angle of the GLS system, since the actual incident laser beam deviates from the theoretical direction set in the physical model. Based on the formulated model, a simulation experiment of the calibration is carried out. Simulation results show that the proposed calibration method is stable. With the calibrated GLS system, the projection positioning experiments of the centers of target circles and the 3 D contour curves are completed. The positioning error of the center of the target circle is around 0.5 mm and the root mean square error of the positional offset between the actual laser curve and the target contour in the image plane is 0.42 pixel.
Due to the complex inner structure of the galvanometric laser scanning(GLS) system, the precise and efficient calibration is the core problem for the GLS-based applications. Based on the physical model of the GLS system, a two-step calibration method is proposed in this study. The parameters of the physical model are divided into two categories. The first are the direction parameters for determining the direction of the outgoing laser beams. The second are the position parameters for determining the positon of the outgoing laser beams. The optimization models for solving the direction parameters and the position parameters are given respectively. Besides, a new estimation is presented to solve the deflection angle of the GLS system, since the actual incident laser beam deviates from the theoretical direction set in the physical model. Based on the formulated model, a simulation experiment of the calibration is carried out. Simulation results show that the proposed calibration method is stable. With the calibrated GLS system, the projection positioning experiments of the centers of target circles and the 3 D contour curves are completed. The positioning error of the center of the target circle is around 0.5 mm and the root mean square error of the positional offset between the actual laser curve and the target contour in the image plane is 0.42 pixel.
引文
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[12] 李旭东,崔磊,赵慧洁,等. 双振镜点扫描三维形貌测量系统[J]. 光学精密工程,2010,18(7):1648-1653.LI X D, CUI L, ZHAO H J, et al. Three-dimensional shape measurement system based on dual oscillating mirrors with point scanning [J]. Optics and Precision Engineering, 2010,18(7):1648-1653.
[13] MANAKOV A,SEIDEL H P,IHRKE I A. A mathematical model and calibration procedure for galvanometric laser scanning systems[C]. Proceedings of the 16th Annual Workshop on Vision, Modeling, and Visualization,2011:348-357.
[14] CUI S,ZHU X,WANG W,et al. Calibration of a laser galvanometric scanning system by adapting a camera model[J]. Applied Optics,2009,48(14):2632- 2637.
[15] ZHANG Z. A flexible new technique for camera calibration[J]. IEEE Transaction on Pattern Analysis and Machine Intelligence,2000,22(11):1330-1334.
[16] WISSEL T,WAGNER B,SCHWEIKARD A,et al. Data-driven learning for calibrating galvanometric laser scanners[J]. Sensors,2015,15(10):5709- 5718.
[17] FISCHLER M A,BOLLES R C. Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography[J]. communications of the acm (Association for Computing Machinery),1981,24(6):381-395.
[18] MORE J J. The Levenberg-Marquardt algorithm: Implementation and theory[C]. Proceedings of Numerical Analysis, 1978:105-116.
[2] LIU M,YANG S,WANG Z,et al. Generic precise augmented reality guiding system and its calibration method based on 3D virtual model[J]. Optics Express,2016,24(11):12026-12042.
[3] 郭亚晶,唐顺兴,姜秀青,等. 基于振镜扫描方式的光学元件表面损伤检测[J]. 光学学报,2017,37(6):117-123.GUO Y J, TANG SH X, JIANG X Q,et al. Damage inspection of optical surface based on galvanometer scanning [J]. Acta Optica Sinica, 2017,37(6):117-123.
[4] 余乐文,战凯,张达. 地下空间三维激光扫描等分辨率方法研究[J]. 仪器仪表学报,2018,39(1):68-74.YU L W,ZHAN K,ZHANG D. Research on equal resolution method of underground spatial 3D laser scanning [J]. Chinese Journal of Scientific Instrument, 2018, 39(1): 68-74.
[5] 陈辉,马世伟,ANDREAS N. 基于激光扫描和SFM的非同步点云三维重构方法[J]. 仪器仪表学报,2016,37(5): 1148-1157.CHEN H,MA SH W,ANDREAS N. Non-synchronous point cloud algorithm for 3D reconstruction based on laser scanning and SFM [J]. Chinese Journal of Scientific Instrument,2016,37(5): 1148-1157.
[6] 严可馨,黎东青,赵晓东,等. 三维激光扫描仪法洞库容量测量算法研究[J]. 电子测量与仪器学报,2018,32(6):6-11.YAN K X,LI D Q,ZHAO X D,et al. Study on the algorithm for underground caverns volume measurement based on 3D laser scanning [J]. Journal of Electronic Measurement and Instrumentation,2018,32(6):6-11.
[7] XIE J,HUANG S,DUAN Z,et al. Correction of the image distortion for laser galvanometric scanning system [J]. Optics and Laser technology,2005,37(4):305-311.
[8] 赵中民,习友宝. 三维激光扫描系统的固有误差校正算法[J]. 激光与红外,2016,46(1):34-38.ZHAO ZH M, XI Y B. Inherent error correction algorithm for 3D laser scanning system [J]. Laser and Infrared, 2016, 46(1):34-38.
[9] 韩万鹏,蒙文,李云霞,等. 双振镜激光扫描的最小二乘与网格混合校正模型[J].激光技术,2012,36(2):179-182,187.HAN W P, MENG W, LI Y X, et al. Correction model mixed with least-square and grid method for dual galvanometric scanning [J]. Laser Technology, 2012,36(2):179-182,187.
[10] 陈忠,刘晓东.激光振镜扫描系统的快速软件校正算法研究[J].华中科技大学学报(自然科学版),2003,31(5):68- 69,116.CHEN ZH, LIU X D. Software correction algorithm for laser galvanometric scanning system [J]. Journal of Huazhong University of science and Technology (Natural Science Edition), 2003,31(5):68- 69,116.
[11] 陈小明,洪军,阎海红,等. 基于Elman神经网络的振镜扫描系统误差校正技术研究[J]. 西安交通大学学报,2006,40(5):587- 590.CHEN X M, HONG J, YAN H H, et al. Study on error correction in dual galvanometer scanning system based on elman recurrent neural network [J]. Journal of Xi′an Jiaotong University, 2006, 40 (5):587- 590.
[12] 李旭东,崔磊,赵慧洁,等. 双振镜点扫描三维形貌测量系统[J]. 光学精密工程,2010,18(7):1648-1653.LI X D, CUI L, ZHAO H J, et al. Three-dimensional shape measurement system based on dual oscillating mirrors with point scanning [J]. Optics and Precision Engineering, 2010,18(7):1648-1653.
[13] MANAKOV A,SEIDEL H P,IHRKE I A. A mathematical model and calibration procedure for galvanometric laser scanning systems[C]. Proceedings of the 16th Annual Workshop on Vision, Modeling, and Visualization,2011:348-357.
[14] CUI S,ZHU X,WANG W,et al. Calibration of a laser galvanometric scanning system by adapting a camera model[J]. Applied Optics,2009,48(14):2632- 2637.
[15] ZHANG Z. A flexible new technique for camera calibration[J]. IEEE Transaction on Pattern Analysis and Machine Intelligence,2000,22(11):1330-1334.
[16] WISSEL T,WAGNER B,SCHWEIKARD A,et al. Data-driven learning for calibrating galvanometric laser scanners[J]. Sensors,2015,15(10):5709- 5718.
[17] FISCHLER M A,BOLLES R C. Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography[J]. communications of the acm (Association for Computing Machinery),1981,24(6):381-395.
[18] MORE J J. The Levenberg-Marquardt algorithm: Implementation and theory[C]. Proceedings of Numerical Analysis, 1978:105-116.
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