2D area array camera-line laser 3D sensor joint calibration method and device

A two-dimensional area array camera-line laser three-dimensional sensor joint calibration method, characterized by comprising:

• combining a line laser three-dimensional sensor and a two-dimensional area array camera into a line structured light vision model, and calibrating the line structured light vision model by using a two-dimensional plane target method;
• establishing a three-dimensional coordinate system of the line laser three-dimensional sensor with an origin at an optical center of the two-dimensional area array camera, and obtaining three-dimensional coordinates of a light bar point on the two-dimensional area array camera;
• placing a target with no less than three cylinder features at a common measurement position of the line laser three-dimensional sensor and the two-dimensional area array camera, and allowing the two-dimensional area array camera to acquire images of intersection lines of a laser plane and three cylinders and then acquire image coordinates of three laser light bars respectively;
• calculating three-dimensional coordinates of the light bar point in a two-dimensional area array camera coordinate system according to the three-dimensional coordinates of the light bar point, and implementing an ellipse fitting algorithm to calculate three ellipse center position coordinates respectively;
• directly acquiring three-dimensional coordinates of the three laser light bars in the three-dimensional coordinate system of the line laser three-dimensional sensor from the line laser three-dimensional sensor, and implementing the ellipse fitting algorithm to calculate three ellipse center position coordinates respectively;
• and
• according to the three-dimensional coordinates in the two-dimensional area array camera and the three-dimensional coordinates in the line laser three-dimensional sensor, calculating a conversion distance between two coordinate systems, thus completing joint calibration.