Calibration Method of Three-Dimensional Shape Measurement System Based on iGPS Positioning and Tracking

Based on the three-dimensional shape measurement system of iGPS positioning and tracking, a mathematical model of this system is established, and the main principle of the traditional hand-eye calibration technology is introduced. Then the system conversion relationship is established with the laser tracker. A calibration method based on feature point fitting is proposed and the transformation relationship is solved by the feature point constraint and the Rodrigue matrix based algorithm. The point cloud splicing contrast experiments based on the robot base coordinate system and the iGPS world coordinate system arc performed on the calibration system. The experimental results show that the calibration method based on fusion feature point fitting improves the precision of point cloud splicing.