irections, RRT, 0.2mm? size ,are pasted on the surface of the
ch other. cylinder generatrix. By using the CCD camera a Test 2
direction convergent stereo-pair was taken and the screen
tre. So to coordinates of the control points on the tiny control After getting the standard equations of two
ars is the frame and of unknown points are measured. Then hand bone surfaces | and Il, the two hand bones
incidence the space coordinates of unknown points are solved are piled as shown in Figure 2. On the same
through DLT , and then come to a standard equation coordinate system , the coincidence difference dZ of
Z)and its as follows. the two bones surfaces at one position :
ved from | x^«Y?.R?z0 (1 5) dZ-7Z4-Z» (1 6)
| The radius of the aluminium cylinder through According to the formula mentioned above data
| solving is 20.20mm, and by comparing it with radius are counted including the degree of coincidence in
(8) | 20.30mm through "direct measurement” by Using different positions (x,y) on two bones , the maximum
Surveying callipers, so the difference is 0.1mm coincidence difference and the average coincidence
| The experiment proves the correctness of the difference.
| system algorithm.
(9) z
(10)
3 x
(11) |
T
dz
Z
Le
IS -
(12) Figure 2
When the bone surface || was moved with tac = dz . )4X" 1
relation to bone surface |, the position change can go dX'aurs Sys As” ( 8)
red above be considered as the bone surface translation X"(or After the bone surface “11 (has been translated
? derived, Y") and Z” from O4 to Oz and the bone surface i fani
: d he d d
linateaxes spinning as angle «x (or «y) at point O? Taking «x as OR a DU. e EAE AE ence degree
Eo tho i| y determination of the two bone surfaces is counted.
, an example, presuming Y" as constant, having : The surveying example is shown in table 1.
ressed as 342724) X24 C=0 (17)
Table 1
0: (43:55 —— [ , — asure Ihe soft Hseue wifhoot her rer Zuoyou xuan zhuang jiaodu-------------------------
coordinate xx re
followS:. + — |] eth were lost there will here ERROR ge dian li cha------------—---------------------—
(14) -5 4 3 2 a 0 1 2 3 4 5
5:h0U.85¢ 50:67 w 0.58 (110:56/00054 0.54” 0.547 056 0.58 061 0.65
ols of MA ;
sr not . the X 0.40 0:37 20.35 W5%0.33 0.32 0.32 : 032 0.33 0.35 . 0.37 , 0,40
i Kind of -3 0.24 0.21 0.19 0.18 0.17 0.17 9.17 0.18 0.19 ^ 0.21 0.24
of one -2 0:44 - - 0:11 0.09 0.08 0.07 0.07 0.07 0.08 0.09 . 0.11 0.14
re . Under -1 0.08 0.06 0.04 0.03 0.02 0.02 0.02 ——0.03 0.04 0.06 . 0.08
may be a 0 0:06 0.04 002 0.01 0.00 0.00 0.00 0.01 0.02 0.04 0.06
1 0.08 "006" 004 0.03 0.02 0.02 002 0.03 0.04 0.06 0.08
2 014 0.11 0.09 0.08 0.07 0.07 0.07 0.08 0.09 0.11 0.14
3 0.24 0.21 0.49 0.18 0.17 0.17 07 0.18 0.19 0.21 0.24
4 040 0:37 0.35 0.33 0.32 0.32 0.32 0.33 035 037 . 0.40
5 0.05 0.61 0.58 . 0.56 0.54 0.54 054 056 0.58 0.61 0.65
Co TS Bedi: rnb ls RP TT zhui da li cha----- -li cha zhong he------ ping jun li cha-----
fith:known maxq2=0.653 q3=28.152 q4=0.233
get. Thirty
415
