Abstract: The present invention provides a method for robot assisted multi-view 3D scanning measurement based on path planning. Firstly, establishing a virtual simulation platform to complete the setting of measurement poses and measurement paths and perform the path evaluations of measurement paths, which improves the measurement efficiency and guarantees the measurement safety. Then, completing the preliminary hand-eye calibration based on the properties of Kronecker product, which reduces the system noise in the process of calibration and the error influence caused by the calculation, and the preliminary hand-eye calibration is optimized by establishing a reprojection error cost function as the fitness function of the particle swarm optimization algorithm, which further improves the accuracy of hand-eye calibration and guarantees the registration quality of single-view point cloud.

Abstract: Robot assisted multi-view 3D scanning measurement based on path planning includes firstly, establishing a virtual simulation platform to complete the setting of measurement poses and measurement paths and perform the path evaluations of measurement paths. Then, completing the preliminary hand-eye calibration based on the properties of Kronecker product, and the preliminary hand-eye calibration is optimized by establishing a reprojection error cost function as the fitness function of the particle swarm optimization algorithm. Lastly, moving the robot to the measurement poses of the planned measurement paths, obtaining a single-view point cloud of the measured object and transforming it from the camera coordinate system to the robot base coordinate system to obtain a registered single-view point cloud based on the optimized hand-eye matrix.