Simultaneous Intrinsic and Extrinsic Parameter Identification of a Hand-Mounted Laser-Vision Sensor 英文参考文献.docVIP

Sensors 2011, 11, 8751-8768; doi:10.3390/s110908751 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Simultaneous Intrinsic and Extrinsic Parameter Identification of a Hand-Mounted Laser-Vision Sensor Jong Kwang Lee 1, Kiho Kim 1, Yongseok Lee 2 and Taikyeong Jeong 2,* 1 Fuel Cycle System Engineering Technology Development Division, Korea Atomic Energy Research Institute, Daejeon, 305-353, Korea; E-Mails: leejk@kaeri.re.kr (J.K.L.); khkim5@kaeri.re.kr (K.K.) 2 Department of Electronic Engineering, Myongji University, Yongin-city, 449-728, Korea; E-Mail: leeys5867@mju.ac.kr (Y.L.) * Author to whom correspondence should be addressed; E-Mail: ttjeong@mju.ac.kr; Tel.: +82-31-330-6775; Fax: +82-31-330-6977. Received: 18 August 2011; in revised form: 5 September 2011 / Accepted: 6 September 2011 / Published: 9 September 2011 Abstract: In this paper, we propose a simultaneous intrinsic and extrinsic parameter identification of a hand-mounted laser-vision sensor (HMLVS). A laser-vision sensor (LVS), consisting of a camera and a laser stripe projector, is used as a sensor component of the robotic measurement system, and it measures the range data with respect to the robot base frame using the robot forward kinematics and the optical triangulation principle. For the optimal estimation of the model parameters, we applied two optimization techniques: a nonlinear least square optimizer and a particle swarm optimizer. Best-fit parameters, including both the intrinsic and extrinsic parameters of the HMLVS, are simultaneously obtained based on the least-squares criterion. From the simulation and experimental results, it is shown that the parameter identification problem considered was characterized by a highly multimodal landscape; thus, the global optimization technique such as a particle swarm optimization can be a promising tool to identify the model parameters for a HMLVS, while the