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建立了视觉传感器仿射坐标系，在给出仿射坐标系与ＣＭＭ坐标系初始转换矩阵的条件下用函数逼近方法拟合出视觉传感器映射关系，并在此基础上采用基于目标特征点的优化算法来反复修正仿射坐标系与ＣＭＭ坐标系之间的转换关系，使坐标转换矩阵估计参数收敛于最小二乘意义下的最优值，实现了视觉传感器建模及其与ＣＭＭ的集成．本文最后给出了标定实验结果
The affine coordinate system of vision sensor is established. The relationship between the affine coordinate system and CMM coordinate system is derived by using the function approximation method to fit the mapping relationship of vision sensor. Based on this, the optimization based on the target feature point Algorithm to iteratively correct the transformation relationship between the coordinate system and the CMM coordinate system, and make the estimated parameters of the coordinate transformation matrix converge to the optimal value in the sense of least squares, so as to realize the visual sensor modeling and its integration with CMM. Finally, the calibration results are given