关键词: 主动视觉, 激光视觉传感器, 结构光, 手眼标定, 光平面标定

Abstract: In order to solve the problem of complex operation existing in the previous approaches based on active vision to calibrate hand-eye matrix and the light plane, an approach based on active vision which calibrates the hand-eye matrix and structured light plane at same time is proposed. By precisely controlling the robot to do two orthogonal translational motions, the rotating part of the hand-eye matrix is solved. The translational part of the hand-eye matrix and the light plane equation is calculated by two or more motions with revolving. The approach is simple, and can be achieved with only three feature points in the scene without a specific target. The experimental results show that the approach is effective.

Key words: active vision, laser vision sensor, structured light, hand-eye calibration, light plane calibration