Fig. 1. Schematic diagrams of system architecture. (a) Top view of system architecture; (b) side view of system architecture

Fig. 2. Posture of world coordinate system

Fig. 3. System axis error simulation process

Fig. 4. Measurement process simulation

Fig. 5. Spherical measurement errors corresponding to axis errors. (a) Theoretical and actual poses in axis simulation; (b) error in X axis; (c) error in Y axis; (d) error in Z axis; (e) error in A axis; (f) error in C axis

Fig. 6. System displacement axis calibration method

Fig. 7. Matching error of standard sphere measurement. (a) Error distribution before calibration of XZ axes; (b) error distribution after calibration of XZ axes; (c) distribution of errors on XOZ plane before calibration of XZ axes; (d) distribution of errors on XOZ plane after calibration of XZ axes

Fig. 8. Matching error of standard sphere measurement. (a) Error distribution without incorporating XZ axes calibration results; (b) error distribution with incorporating XZ axes calibration results; (c) error distribution after Y axis calibration; (d) distribution of errors on XOZ plane without incorporating XZ axes calibration results; (e) distribution of errors on XOZ plane with incorporating XZ axes calibration results; (f) distribution of errors on XOZ plane after Y axis calibration

Fig. 9. System rotation axis calibration method

Fig. 10. Simulation results of A axis calibration. (a) Scan simulation results of A axis at various angles; (b) point cloud reconstruction of standard ball before calibration; (c) distribution of measurement errors of standard sphere on XOZ plane before calibration; (d) distribution of measurement errors of standard sphere on XOZ plane after calibration

Fig. 11. System physical diagram

Fig. 12. XZ axes calibration results. (a) Measurement point cloud and XZ axes calibration posture; (b) distribution of measurement errors on XOZ plane before calibration; (c) distribution of measurement errors on XOZ plane after calibration

Fig. 13. Y axis calibration results. (a) Measurement point cloud and Y axis calibration posture; (b) distribution of measurement errors on XOZ plane without incorporating XZ axes calibration results; (c) distribution of measurement errors on XOZ plane with incorporating XZ axes calibration results; (d) distribution of measurement errors on XOZ plane after Y axis calibration

Fig. 14. Rotation axes calibration results. (a) A axis calibration results; (b) C axis calibration results

Fig. 15. Distribution of measurement errors of standard sphere on XOY Plane. (a) Before A axis calibration; (b) after A axis calibration; (c) before C axis calibration; (d) after C axis calibration

Fig. 16. Comparison of measurement errors before and after system axes calibration

Fig. 17. Stair measurement results. (a) Measurement point cloud; (b) repeat measurement results

Fig. 18. Standard sphere registration results. (a) Schematic diagram of the measurement process; (b) distribution of matching errors on XOY plane of results from CMM measurement; (c) point cloud from measurements using system; (d) distribution of matching errors on XOY plane of measurement results by system

Fig. 19. Standard sphere surface PV repeated measurement results

Fig. 20. Standard sphere radius repeated measurement results

Fig. 21. Surface PV measurement results of the standard sphere in the uncertainty analysis experiment

Fig. 22. HUD glass measurement results. (a) HUD physical illustration; (b) measurement matching results; (c) interpolated point cloud measurement results

Fig. 23. Glue mirror measurement results. (a) Glue mirror physical and structural schematic; (b) glue mirror measurement results; (c) matching errors of sphere on glue mirror; (d) matching errors of plane on glue mirror