中文摘要：

针对现有多传感器线结构光视觉测量系统全局校准过程中通常需要三维测量设备、校准过程复杂等问题，提出了一种基于一维靶标的多传感器线结构光视觉测量系统全局校准方法。此方法以一维靶标为中介，首先由每个线结构光视觉传感器得到光条与一维靶标相交点在各自测量坐标系下的三维坐标，然后由交比不变性得到相交点在一维靶标坐标系下的坐标，进而得到不同相交点的空间距离，将一维靶标在合适位置摆放多次，以相交点之间的空间距离为约束条件，建立以旋转矩阵和平移矢量为参数的优化目标函数，通过非线性优化算法求解出各线结构光视觉传感器间的旋转矩阵与平移矢量。此方法不需要借助复杂靶标及三维测量设备，校准过程简单，并且能达到较高的校准精度。实验结果表明，全局校准的均方根（RMS）误差优于0．1mm。

英文摘要：

A novel global calibration method for the multi-sensor vision measurement system based on the line structured light is proposed to resolve the problem that the ordinary, calibration method depends on the external high-precision equipment. The 3D coordinates of the intersection points formed by light stripe and the 1D target can be obtained in each coordinate frame of the line structured light vision sen- sor. The coordinates in the 1D target coordinate frame can be got by the invariance of the cross ratio,and then the spatial distance between the intersections can be further calculated. The objective function to be optimized involving the parameters of rotation matrix and translation vector can be established based on the condition of the distance restraint between the intersections at different positions. The optimized parameters of the global calibration can be resolved by combining these equations and using the non-linear optimization algorithm. The experimental results show that the RMS error is less than 0.1 mm.