Novel calibration method for a multi-sensor visual measurement system based on structured light

摘要

Abstract. We focus on two key problems in the calibration of multi-nsensor visual measurement systems based on structured light: the cali-nbration of the structured light vision sensor, and the global calibration ofnmultiple vision sensors. In the calibration of the vision sensor, the light-nplane equation is computed by combining the Plücker matrices of lightnstripes obtained at different target positions. Since the light-plane equa-ntion is optimized by using all the light-stripe center points, the robustnessnand accuracy of calibration are considerably improved. For the globalncalibration of multiple vision sensors, the relative positions of the twonvision sensors with non-overlapping fields of view are calibrated bynmeans of two planar targets u0001fixed togetheru0002, using the constraint that thenrelative positions of the two targets are invariable. The mutual transfor-nmations between the two targets need not be known. Using one of thenvision sensors as the base vision sensor, the global calibration of mul-ntiple vision sensors is achieved by calibrating each of the other visionnsensors with the base vision sensor. The proposed method has alreadynbeen successfully applied in practic. © 2010 Society of Photo-Optical Instrumen-ntation Engineers. u0003DOI: 10.1117/1.3407429