Three-dimensional data registration method for vision measurement in flow style based on double-sided target

Abstract

The present disclosure is directed to a three-dimensional data registration method for vision measurement in flow style based on a double-sided target. An embodiment of the disclosed method that comprises A. Setting up two digital cameras which can observe the entire measured object; B. Calibrating intrinsic parameters and a transformation between the two digital camera coordinate frames; C. A double-sided target being placed near the measured area of the measured object, the two digital cameras and a vision sensor taking images of at least three non-collinear feature points of the double-sided target; D. Removing the target, measuring the measured area by using the vision sensor; E. Respectively computing the three dimensional coordinates of the feature points in the global coordinate frame and in the vision sensor coordinate frame; F. Estimating the transformation from the vision sensor coordinate frame to the global coordinate frame through the three dimensional coordinates of the three or more non-collinear feature points obtained at step E, then transforming the three dimensional data of the measured area to the global coordinate frame; and G. Repeating step C, D, E, F, then completing three dimensional data registration for all measured areas. The present disclosure improves three dimensional data registration precision and efficiency.