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

摘要： 为解决现有基于主动视觉方法标定手眼矩阵和结构光平面操作较复杂的问题，提出一种基于主动视觉的同时标定手眼矩阵和光平面的方法。通过精确控制机器人做两次相互正交的平移运动，求解手眼矩阵的旋转部分；而后通过两次及以上带旋转运动，求解手眼矩阵的平移部分和光平面方程。该方法简单，无需使用特定靶标，标定过程只需3个特征点，即可实现机器人手眼矩阵和光平面方程的标定；实验结果证明了该方法的有效性。

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