Abstract
A flexible calibration approach for line structured light vision system is proposed in this paper. Firstly a camera model is established by transforming the points from the 2D image plane to the world coordinate frame, and the intrinsic parameters of camera can be obtained accurately. Then a novel calibration method for structured light projector is presented by moving a planar target with a square pattern randomly, and the method mainly involves three steps: first, a simple linear model is proposed, by which the plane equation of the target at any orientations can be determined based on the square’s geometry information; second, the pixel coordinates of the light stripe center on the target images are extracted as the control points; finally, the points are projected into the camera coordinate frame with the help of the intrinsic parameters and the plane equations of the target, and the structured light plane can be determined by fitting these three-dimensional points. The experimental data show that the method has good repeatability and accuracy.
Highlights
With the development of photo-electronics, image processing and electronics, computer vision technique is becoming increasingly relevant in industry for on-line inspection, component quality control, solid modeling and dimensional analysis [1,2,3]
A basic structured light vision system consists of a camera and a laser projector rigidly fixed with respect to the camera, and the working principle is laser triangulation
In Robert Dewar’s method [12], several thin non-coplanar threads are strained in the space illuminated by a light stripe, and several bright light dots are obtained as the control points whose 3D coordinates can be measured by means of a theodolite
Summary
With the development of photo-electronics, image processing and electronics, computer vision technique is becoming increasingly relevant in industry for on-line inspection, component quality control, solid modeling and dimensional analysis [1,2,3]. In Robert Dewar’s method [12], several thin non-coplanar threads are strained in the space illuminated by a light stripe, and several bright light dots are obtained as the control points whose 3D coordinates can be measured by means of a theodolite. To make the system convenient to use on-site and under limited space, Wei [15] has proposed a novel 1D target-based calibration method for structured light vision sensors by randomly viewing a 1D target from different unknown orientations positioned within the field of view. In the Method Section, a camera model is given first inspired by the work of Zhang, and the detailed procedure of projector calibration is described, which includes working out the target plane, extracting center of the light stripe and fitting the structured light plane.
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