中文摘要：

提出一种世界坐标唯一全局标定方法，以双电子经纬仪三维测量系统为总体测量坐标系，在现场直接获得多视觉检测系统中各个视觉传感器在此测量坐标系下的特征点作为标定点，从而一次实现全部传感器的全局统一（标定），无需任何中间坐标系的转换环节，只有唯一的双经纬仪三维测量坐标系，坐标转换环节少，标定过程简单．对双经纬仪三维测量系统的像坐标和物坐标测量精度进行了分析，给出了实际测量中经纬仪获得较高测量精度时的取点范围，针对一实际的结构光多视觉检测系统进行了标定实验，获得了RMS（Root Mean Square）误差不超过0．24mm的标定精度．

英文摘要：

An unique world coordiantes based global calibration method is proposed, in which double theodolites system coordinare frame is taken as the general measurment coordiante frame and the system is used to directly sample calibrations points for each vision sensor in the multi-vision inspections system. Thus the whole sensors in the inpection system can finish global calibration by one time, and no medi-coordinate-frame is needed. Therewith, transformation times of coordinate frame decreases and calibration course is facilitized. Measurement accuracy analysis of the image coordinates and object coordinates is performed on the double theodolites system, respectively, and the range of sampling calibration points for gaining high measurement accuracy of theodolite in practice is provided. Finally, global calibration experiment on a real multi-strutured light stripe vision inspection system is conducted with root mean square（RMS） error of not more than 0.24 mm.