Spatial pose measurement method with combined multi-line structured light sensors

Addressing the demand for comprehensive measurement of spatial pose and key geometric quantities of non-cooperative targets, a multi-line structured light sensor configuration was adopted. Leveraging the sensors' axial symmetry layout, coordinate mapping equations for the combined measurement system were constructed, and pose transformation relationships were established to fuse 2D measurement data from the three line structured light sensors. A five-degree-of-freedom test platform was built, and the system was calibrated via the Levenberg-Marquardt (L-M) algorithm to obtain its rigid transformation relationships. Verification experiments were conducted on cylindrical targets. Results demonstrated that within the measurement range of the sensors, the combined system achieved a position measurement accuracy better than ±0.1 mm, a pose measurement accuracy better than ±0.05°, and deviations in key geometric quantities were below 0.5 mm. This scheme is adaptable to scenarios involving non-cooperative targets and provides a referential solution for similar comprehensive measurement tasks.