【正文】 rd International Symposium on Instrumentation Science and Technology Aug. 18~22, 2020, Xi’an. China 1807 絕對誤差為 。 對粘貼黃色，紅色和綠色的紙真實三維彩色實物進行基于黑白 CCD 和彩色 CCD 垂直掃描 系統(tǒng)所捕獲的實驗結果。圖 3 是物體的彩色圖像 。圖 4是三維點云計算由變換矩陣和圖片系列 。圖 5 是從顏色傳感器校準以及信息獲得的 3D 彩色點云的匹配過程。它可以真實，生動地代表物體的 3D和顏色信息。 從理論分析上述的實驗結果顯示，該基于攝像機標定的匹配技術在一定程度上是可行的，而且也有令人滿意的精度和效果。兩者的方法都不需要預先設置相機的內(nèi)在和外部參數(shù)，如比例因子和圖像中心的空間，但點坐標和其對應的像素坐標的數(shù)量卻是不夠的，為了保證高精度，仍需要多次的采樣。另外，在使用線性區(qū)分標定的情況下，數(shù)量和形式的分區(qū) 應該由實際應用確定，而圖像可以由其他方式來劃分，如同心圓或矩形等。這種方法，在每一個分區(qū)的線性，甚至其他非線性校準都是可以使用的。因此，該方法可以有效解決信息匹配的問題，這為未來的 3D彩色重建和紋理映射奠定了良好的基礎。 [1] Sun Yuchen, Ge Baozhen, Zhang Yimo. Review for the 3D information measuring technology[J]. Journal of Optoelectronics ? Laser, 2020, 15(2): 248254.(in Chinese) [2] Petrov M., Talapov A. et al. Optical 3D digitizers: bringing life to the virtual world. Computer Graphics and Applications, IEEE, 1998, 18(3):2837. 3rd International Symposium on Instrumentation Science and Technology Aug. 18~22, 2020, Xi’an. China 1808 [3] Borghese ., Ferrigno G. et al. Autoscan: a flexible and portable 3D scanner. Computer Graphics and Applications, IEEE, 1998, 18(3):38– 41. [4] Roger, Y. Tsai. A versatile camera calibration technique for highaccuracy 3D machine vision metrology using offtheshelf TV cameras and lenses[J]. IEEE Journal of Robotics and Automation,1987, RA3(4):323344. [5] W. Faig. Calibration of closerange Photogrammetry systems: Mathematical formulation. 3rd International Symposium on Instrumentation Science and Technology Aug. 18~22, 2020, Xi’an. China 1809 Matching between 3D Coordinate and its Color Information in 3D Color Sensor GE Baozhen, SUN Yuchen, MU Bing, SUN Mingrui, LV Qieni College of Precision Instrument and Optoelectronics Engineering, Tianjin University, Tianjin 30072, China Key Laboratory of Optoelectronics Information and Technical Science (Tianjin University), Ministry of Education, Tianjin 30072, China ABSTRACT The matching between three dimensional (3D) coordinate and its color information in 3D color sensor is realized by the calibration technique, which applies Linear Partition Method and BP Neural Network Method to 3D sensor and color sensor respectively. The principle of the calibration technique includes the formula and solution procedure is deduced and the procedure of the information matching is discussed in detail. Calibration experiment results indicate that the use of Linear Partition Method to 3D sensor enables its measuring mean relative error to reach percent and the use of BP Neural Network Method to color sensor enables its testing accuracy to reach pixels. Based on the calibration results, real object is measured and 3D color point cloud is obtained, which can represent the object truly and vividly. Keywords: 3D color sensor。 camera calibration, information matching, linear partition calibration, BP neural work, color point cloud 1. INTRODUCTION Acquisition of 3D and color information of real object is a research focus in digitization field. Up to now, different kinds of techniques based on different principles are proposed[1], which are widely applied in many fields such as CAD and CAM, reverse engineering, rapid prototype, virtual reality, human engineering and preservation of cultural relics and so on[2, 3]. Among these techniques, noncontact optical method, especially structured light method is bee more and more popular due to its simple principle, rapid measurement, non contact and high precision characteristics. Real object can be digitized with color information by 3D color sensor whose key parts are black and white (Bamp。W) cameras and color cameras. The matching between 3D coordinate and its color information in 3D color sensor can be realized by camera calibration. Many calibration