The mathematic model of the laser 3-d visual sensor is established. A separated-parameter method is proposed to calibrate the structure parameter.
建立了激光视觉传感器的数学模型，提出了一种分离参数对传感器结构参数进行标定的方法。
Micromanipulaton system does 3 D fine manipulation. Therefore the visual sensor must provide stereoscopic image.
微操作系统进行三维精细操作，要求视觉传感器输出立体感较强的图像。
And based on the 3-d measurement model of stereo-visual sensor, the parameters of sensor can be optimized with the feature points constraint simultaneously.
在立体视觉传感器三维测量模型基础上，引入特征点约束优化传感器结构参数，同时实现了传感器现场标定。
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