| 摘要 |
<p>Method and system for determination of relative position and/or orientation of a number of points or geometrical objects like planes, lines, holes, cylinders or spheres, or combined objects like robot arms or other industrial production equipment, based on the use of one or more cameras based on electro-optical sensors, in combination with permanently mounted light sources, projected light spots, illuminated reflectors, or probing tools having light sources or reflectors attached thereto. The camera (1) is arranged to measure the projection of light spots on the cameras sensor (4) in a number of camera locations, and measurements are made such that each light source or light reflection (18; 14; 15; 16) is observed from two or more camera locations (1; 8), by the observations being registered as image coordinates relates to a camera fixed coordinate system. Based on the observed images of the light sources (14; 15; 16) or reflecting points of the measurement tool, the corresponding image coordinates of the touch point of the measurement tool are calculated in the camera fixed coordinate system. Among the measurement points there is a minimum of two points at a known mutual separation distance to be used for determination of correct length scale. The positions of the individual points relative to an arbitrary coordinate system are calculated by bundle adjustment, and where the computational method also comprises a mathematical modelling of the optical properties of the cameras to compensate for distortion errors in the camera lens, and where the mathematical descriptions of geometrical objects are based on analysis of a number of points on the object.</p> |
