KEYWORDS: Cameras, Image registration, 3D modeling, Imaging systems, Sensors, Calibration, 3D metrology, Data modeling, Visual process modeling, 3D acquisition
The checkerboard target is precisely processed and fixed on the measurement system. The feature points' coordinates on
the target in the measurement coordinate system are invariable with the motion of the measurement sensors, and obtained
by using the intermediary coordinate transformation method. The feature points are captured by an accurately calibrated
camera. The three collinear and equidistant points are used to build the simplest perspective-three-point model, and the
coordinates can been calculated by the model. Not less than three non-collinear points, which can be obtained by two
groups of models, are used to coarsely estimate the exterior parameters from the target coordinate system to the camera
coordinate system. To improve the exterior parameters' precision, an optimization scheme is used to minimize the cost
function of re-projection error. Every feature point' coordinates in the camera coordinate system can be accurately
calculated. Finally, the registration matrix is obtained. Experimental results show that the new method is simple, flexible
and effective.
The coded target design is geometrically constructed only of circular elements, i.e. circular marked point, circular reference point and circular coding points. Marked point is surrounded by a reference point and some coding points with bit position at equally spaced angular interval. The circular radius of the reference point is bigger than that of coding points. Marked point represents the point location itself. Reference point provides a start bit for coding points. Coding points provide robust identification of the target anti-clockwise, starting from reference point. The design method provides a sufficient number of identification points by introducing a reference point. Finally, the application of the proposed coded targets to 3D data registration is described. Experimental results show that the developed coded targets are independent to location, rotation and change of scale, and the marked points are easily and accurately detected.
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