A flexible 3D point reconstruction with homologous laser point array and monocular vision

Abstract

A 3D recovery approach is achieved by the monocular vision sensor and the homologous laser point array with the arbitrary relative pose to the 2D reference. In the modeling process, firstly, the 3D texture board is moved to different positions in the view field of the vision sensor. Therefore, the laser rays intersect with the cubic board and generate laser points on it. Then, the Plücker matrices of the laser rays are determined by the laser points. The algebraic solution of the joint point of laser rays, the optic center of the projector, is contributed by the singular value decomposition. Thirdly, the laser rays are refined by the algebraic solution of the joint point and represented in the 2D-reference coordinate frame. Finally, the reconstruction is achieved by the calibrated laser rays of the projector. The reconstruction method is experimentally conducted to verify the performance and precision in various measurement conditions. The reconstruction error averages are 0.942 mm, 1.055 mm, 1.374 mm, 2.063 mm, under the 700 mm–1000 mm measuring distances between the vision sensor and the optic center. As there is no strict requirement for the relative installation position and orientation between the laser-ray projector and the 2D reference, the approach prompts the flexibility for the on-site active-vision measurement.