초록 ▼

The photogrammetric measurement system is positioned at a vantage point to detect and calibrate its reference frame to the external reference frame demarcated by light-reflecting retroreflective target dot on a spherical target. A tetrahedron framework with the spherical target mounted on one of the

The photogrammetric measurement system is positioned at a vantage point to detect and calibrate its reference frame to the external reference frame demarcated by light-reflecting retroreflective target dot on a spherical target. A tetrahedron framework with the spherical target mounted on one of the vertices serves as a reference target that is placed in front of the non-contact sensor to be calibrated. The photogrammetric measurement system reads and calibrates the position of the retroreflective target dot (and thus the tetrahedron) while the structured light of the sensor is projected onto the framework of the reference target. The structured light intersects with and reflects from the reference target, providing the non-contact sensor with positional and orientation data. This data is correlated to map the coordinate system of the non-contact sensor to the coordinate system of the external reference frame.

대표청구항 ▼

[ What is claimed is:] [1.]1. A sensor calibration system for calibrating a non-contact sensor with respect to an external reference frame, the non-contact sensor of the type having a sensing zone associated with a sensor reference frame comprising:a reference indicia disposed in fixed relation to s

[ What is claimed is:] [1.]1. A sensor calibration system for calibrating a non-contact sensor with respect to an external reference frame, the non-contact sensor of the type having a sensing zone associated with a sensor reference frame comprising:a reference indicia disposed in fixed relation to said external reference frame;a photogrammetric measurement system having a calibration field of observation associated with a photogrammetric reference frame, said photogrammetric measurement system being positionable at a vantage point such that said reference indicia is within the calibration field of observation;a tetrahedron framework associated with a tetrahedron reference frame for placement within the calibration field of observation of said photogrammetric measurement system and within the sensing zone of said sensor;a coordinate transformation system being adapted for coupling to said photogrammetric measurement system for collecting data from said reference indicia and for establishing a first relationship between the photogrammetric reference frame and the external reference frame;said coordinate transformation system further being adapted for collecting data from the non-contact sensor when said tetrahedron framework is in at least three noncolinear positions, for transforming collected data from the non-contact sensor to said tetrahedron reference frame and for translating data from said tetrahedron reference frame to said photogrammetric reference frame, establishing a second relationship between the photogrammetric reference frame and the non-contact sensor reference frame; andsaid coordinate transformation system determining a third relationship between the external reference frame and the sensor reference frame, and calibrating said non-contact sensor with respect to said external reference frame based upon said first, second, and third relationships.