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A light plane calibration method of line-structured light sensors based on unified extrinsic parameters estimation

OPTICS AND LASERS IN ENGINEERING 2025年 188卷

作者： Li, Tianyu Liu, Changwen Duan, Fajie Fu, Xiao Niu, Guangyue Liang, Chunjiang Chen, Anqi Tianjin Univ State Key Lab Precis Measuring Technol & Instrumen 92 Weijin Rd Tianjin 300072 Peoples R China

light plane calibration is crucial for line-structured light systems. However, traditional methods struggle with achieving micrometer-level accuracy and handling a small depth of field. In these conditions, blurred target features increase pixel coordinate noise and reduce the accuracy of sensor model parameter calibration. Therefore, this paper proposes a light plane calibration method based on unified extrinsic parameter estimation using a planar target. This method utilizes a two-dimensional target and a translation stage to extend the twodimensional feature points into three-dimensional feature points. The aim is to improve the calibration accuracy of sensor model parameters under small depth of field conditions and reduce the system errors introduced by the sensor. The experimental results support the conclusion that the proposed method significantly improves the calibration accuracy of line structured light under shallow depth-of-field conditions.

关键词： Machine vision line-structured light light plane calibration Extrinsic parameters

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Hand-eye calibration method for a line structured light robot vision system based on a single planar constraint

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ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 2025年 91卷

作者： Zhong, Kaifan Lin, Jingxin Gong, Tao Zhang, Xianmin Wang, Nianfeng South China Univ Technol Sch Mech & Automot Engn Guangdong Key Lab Precis Equipment & Mfg Technol Guangzhou 510640 Guangdong Peoples R China Shenzhen Polytech Shenzhen 518055 Guangdong Peoples R China

Hand-eye calibration is a prerequisite for robot vision system applications. However, due to the lack of image features, implementing hand-eye calibration with a line-structured light sensor is limited by complex procedures and special reference objects. The aim of this paper is to develop a stable and undemanding eye- in-hand calibration method with a 2D laser sensor that can be adapted to random measurement strategies in most common scenes. The proposed method can use an easily accessible plane from machined workpieces, except for specialized calibration objects, which facilitates the automation of industrial robots. Moreover, in this method, a two-step iterative method is combined with fast simulated annealing based on a single planar constraint to overcome large initial deviations and sensor errors. Simulations and calibration experiments are conducted to assess the method performance and demonstrate the feasibility and accuracy of the proposed eye-in-hand calibration method.

关键词： Hand-eye calibration line-structured light Robot vision

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Calibration method for line-structured light vision sensor based on a single ball target

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OPTICS AND LASERS IN ENGINEERING 2015年第Jun.期69卷 20-28页

作者： Liu, Zhen Li, Xiaojing Li, Fengjiao Zhang, Guangjun Beihang Univ Key Lab Precis Optomechatron Technol Minist Educ Beijing 100191 Peoples R China

Profile feature imaging for ball targets is unaffected by the position of the target. On this basis, this study proposes a method for the rapid calibration of a line-structured light system based on a single ball target. The calibration process is as follows: the ball target is placed at least once and is illuminated by the light stripe from the laser projector. The vision sensor captures an image of this target. The laser stripe and profile images of the ball target are then extracted. Based on these extracted features and the optical centre of the camera, the spatial equations of the ball target and a cone profile are calculated. The plane on which the intersection line of the two equations lies is the light plane. Finally, the optimal solution for the light plane equation is obtained through nonlinear optimization under a maximum likelihood criterion. The validity of the proposed method is demonstrated through simulation and physical experiments. In the physical experiment, the field of view of the structured light vision sensor measures 300 mm x 250 mm. A calibration accuracy of 0.04 mm can be achieved using the proposed method. This accuracy is comparable to that of the calibration method which utilizes planar targets. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： Calibration line-structured light Vision sensor Single ball target

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Robustly decoding multiple-line-structured light in temporal Fourier domain for fast and accurate three-dimensional reconstruction

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OPTICAL ENGINEERING 2016年第9期55卷 093110-1-093110-7页

作者： Bian, Haidong Liu, Kai Sichuan Univ Sch Elect Engn & Informat 24 South Sect 1Yihuan Rd Chengdu 610065 Sichuan Provinc Peoples R China

Compared with grayscale patterns in structured light illumination, line stripes, as one binary pattern, are attractive for being more conveniently decoded. However, traditional line scanning typically involves a single line shifting across objects to avoid spatial ambiguities possibly introduced by complex surface geometry of objects. We propose a multiple-line strategy for fast and accurate reconstructing of the three-dimensional surfaces of targets. First, we build a mathematical model for multiline scanning, and second, we derive phase computation from the model along time axis and resolve the issue of ambiguity naturally. Errors of the proposed method are theoretically analyzed, and it shows that the proposed method is immune to nonlinearity and is robust to uncertainty. Experimental results demonstrate that the proposed method is of advantages both in accuracy and time cost. (C) 2016 Society of Photo-Optical Instrumentation Engineers (SPIE)

关键词： line-structured light three-dimensional reconstruction temporal decoding strategy Fourier domain

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Calibration method for line-structured light multi-vision sensor based on combined target

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EURASIP JOURNAL ON WIRELESS COMMUNICATIONS AND NETWORKING 2013年第1期2013卷 1页

作者： Huang, Yin-guo Li, Xing-hua Chen, Pei-fen Tianjin Univ State Key Lab Precis Measuring Technol & Instrume Tianjin 300072 Peoples R China

Calibration is one of the most important technologies for line-structured light vision sensor. The existing calibration methods depend on special calibration equipments, whose accuracy determines the calibration accuracy. It is difficult to meet the requirements of universality and field calibration with those methods. In order to solve these problems, a new calibration method based on the combined target for line-structured light multi-vision sensor is proposed. Each line-structured light multi-vision sensor is locally calibrated by combined target with high precision. On the basis of global calibration principle and the characteristics of the combined target, global calibration and local calibration are unified. The unification avoids the precision decrement caused by coordinate transformation. And the occlusion problem of 3D reference objects can be avoided. An experimental system for 3D multi-vision measurement is set up with two sets of vision sensor and its calibration matrix is obtained. To improve the calibration accuracy, the method of acquiring calibration points with high precision and error factors in calibration are analyzed. After being calibrated, the experimental system is finally tested through a workpiece measurement experiment. The repeatability of this system is 0.04 mm, and it proves that the proposed calibration method can obtain high precision. Moreover, by changing the structure of the combined target, this calibration method can adapt to the different multi-vision sensors, while the accuracy of the combined target is still guaranteed. Thus, this calibration method has the advantages of universality and field calibration.

关键词： Combined target Multi-vision sensor Calibration line-structured light

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Measurement Method for Video Probe based on line-structured light 8

Measurement Method for Video Probe based on Line-structured ...

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8th International Conference on Digital Image Processing (ICDIP)

作者： Yao Min Wuhan Donghu Univ Elect & Informat Sch Wuhan 430212 Peoples R China

ISBN: (纸本)9781510605039;9781510605046

Considering the requirement of measurement for video probe, a method that uses line-structured laser to measure points, lines and surfaces of the object is presented. The line-structured light imaging model is built, where the linear laser is used as an auxiliary light source irradiating on the surface of the object. Compared to the object image, the proportional coefficient is calibrated with multiplying factor in different distance and laser line position. The geometry parameters are calculated based on the measurement platform. The experimental results show that the measuring error is less than 10%, and the method is suitable for the requirements of the video probe.

关键词： video probe line-structured light geometry parameter

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Structural Parameters Analysis and Optimization of line-structured light Measuring System 23

Structural Parameters Analysis and Optimization of Line-stru...

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23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Li, Zhe Cui, Jiwen Wu, Jianwei Tan, Jiubin Harbin Inst Technol Ctr Ultraprecis Optoelect Instrument Harbin 150001 Peoples R China

ISBN: (纸本)9781509027644

Structural parameter is an important factor which limits the improvement of precision in the three-dimensional measuring system of line-structured light. In order to improve the precision, we have developed an improved approach for choosing optimal structural parameters. A unified mathematical model with advantages of ease of use and compatibility is established. On this basis, errors of three-dimensional vision measuring system and the effects of the structural parameters on precision are analyzed in detail. The approach takes various factors into account which limit the option of structural parameters, so the selected values of structural parameters are more practical for applications than before. According to these, the optimization criterion and constraint conditions of the structural parameters are given. An example illustrates the specific design process very well.

关键词： three-dimensional measurement line-structured light parameter optimization error analysis

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Calibration of line-structured light vision sensor based on free-placed single cylindrical target

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OPTICS AND LASERS IN ENGINEERING 2022年 152卷 106951-106951页

作者： Sun, Junhua Ding, Dongliang Cheng, Xiaoqi Zhou, Fuqiang Zhang, Jie Beihang Univ Sch Instrumentat Sci & Optoelect Engn 37 Xueyuan Rd Beijing 100191 Peoples R China Beijing Technol & Business Univ 11 Fucheng Rd Beijing 100048 Peoples R China

This paper proposes a novel calibration method for the line-structured light Vision Sensor (L-LVS) based on a straight cylindrical target that can be free placed. The cylindrical target is placed at least once in the measurement space. The camera captures the image of the cylindrical target and the light stripe. Based on the geometric properties of the cylinder and vanishing points, we calculate the 3D centers of the cylindrical end circles and reconstruct the cylindrical quadric surface. Then, multiple 3D points on the cylindrical surface are obtained according to the perspective projection relationship, which finally allows for the reconstruction of the light plane. Both simulation and real experiments show that the proposed method is effective. In the real experiments, the measurement accuracy of a L-LVS based on the proposed calibration method achieves 0.056 mm, when the measuring distance is about 400 mm. Due to the small-size and pose-unconstrainted target, our calibration method is superior to be applied in the confined measurement space in the wild.

关键词： Calibration line-structured light Vision sensor Single cylindrical target

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A virtual binocular line-structured light measurement method based on a mirror

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OPTICS COMMUNICATIONS 2022年 510卷 127974-127974页

作者： Li, Ye Fu, Yanjun Zhong, Kejun Ma, Baiheng Yan, Zhanjun Nanchang Hangkong Univ Sch Measuring & Opt Engn Nanchang 330063 Peoples R China Sci & Technol Electroopt Control Lab Luoyang 471023 Peoples R China

A virtual binocular line-structured light measurement method based on a plane mirror is proposed. A checkerboard target and its virtual image in a front coating plane mirror are captured by a camera in a single picture. The target is imaged in several positions to determine the spatial relationship between the camera and plane mirror. The centers of light stripes are matched with its mirror images by the vanishing point constraint between the checkerboard coplanar point and its corresponding mirrored point. By scanning the object on a moving stage, 3D point cloud data can be obtained. Compared with the traditional binocular line-structured light measurement system, the proposed method just needs a single camera, and two images can be obtained in one procedure. It improves the measurement speed, reduces the cost of measurement, and avoids measurement errors caused by non-strict synchronization between the left and right camera in binocular vision. Experimental results demonstrate good performance with the ability to reconstruction surfaces, and measurement accuracy (RMSE = 0.032 mm) can meet the industrial requirement.

关键词： Virtual binocular stereo vision line-structured light Plane mirror Vanishing point Measurement

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A novel method to calibrate the rotation axis of a line-structured light 3-dimensional measurement system

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OPTICS AND LASERS IN ENGINEERING 2023年第1期164卷

作者： Liu, Changwen Fu, Xiao Duan, Fajie Li, Tianyu Li, Jiaxin Wang, Rui Tianjin Univ State Key Lab Precis Measuring Technol & Instrumen 92 Weijin Rd Tianjin 300072 Peoples R China

Rotation axis calibration is the key to line-structured light 3-dimensional (3D) measurement. The traditional calibration method based on circle fitting only uses the position information of the calibration target and ignores the orientation information, which is easily affected by noise. This paper proposes a new calibration method combining the orientation and position information to improve the calibration accuracy. Compared with the circle fitting method, the added orientation information makes the description of rotation more complete. On this basis, an improved extrinsic parameters estimation method is proposed to obtain more accurate position and orientation information of the target, which further improves the calibration accuracy. The experiment results show that, the radius error is reduced by about 90% and the standard deviation of radius error is reduced by about 40% compared with the traditional circle fitting method.

关键词： Machine vision line-structured light Calibration Rotation axis Extrinsic parameters

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