中文摘要：

便携式坐标测量技术是近年来测量领域的研究热点之一。本文以双目立体视觉为基础，实现了一种简便易行的无线柔性坐标测量系统，该系统由两台CCD相机、一台电脑以及贴有标记点的测笔组成。通过手持测笔使其测端接触待测目标点，双CCD相机监控测笔上的标记点并解算出测端的三维坐标，来实现目标点三维坐标的测量。着重针对测笔标记点以及测端的标定这一关键问题，提出了一种简单有效的解决方法。讨论了双目立体相机与被测对象相对位置不变的单站式测量的原理和方法，同时为了克服相机视场的有限性，通过粘贴拼合标记点的方式，实现了相机在多个位置上的拼合测量，增强了系统的实用性。通过标定实验和测量实验对系统进行了验证。

英文摘要：

Due to its convenience and economy, portable coordinate measurement has been an emerging hot research topic in measurement field. A simple portable coordinate measurement system based on binocular stereo vision is presented in this paper. The system is mainly composed of two CCD cameras, a computer and a hand-held measuring pen with circular features that are easy to recognize. The CCD cameras supervise the circular features while the tip of the measuring pen touches the target point to be measured. The 3 D coordinates of the tip, and consequently those of the target point, are calculated through analyzing the two images of the measuring pen. Particularly, a simple and ef- fective method for the calibration of the measuring pen, which is the key to the system, is proposed. To overcome the limitation of the camera field of view, the binocular stereo camera is allowed to be put in different positions, and the measurement registration is achieved by sticking registration points on the measured object. The effectiveness of the system is affirmed by calibration experiments and measuring experiments.