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

Zhenmin Zhu; Xinyun Wang; Fuqiang Zhou; Fuqiang Zhou; Yigang Cen

doi:10.1364/AO.378638

Applied Optics
Vol. 59,
Issue 5,
pp. 1376-1382
(2020)
•https://doi.org/10.1364/AO.378638

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

Zhenmin Zhu, Xinyun Wang, Fuqiang Zhou, and Yigang Cen

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Zhenmin Zhu, Xinyun Wang, Fuqiang Zhou, and Yigang Cen, "Calibration method for a line-structured light vision sensor based on a single cylindrical target," Appl. Opt. 59, 1376-1382 (2020)

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Table of Contents Category
- Imaging Systems, Image Processing, and Displays
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About this Article
History
- Original Manuscript: September 30, 2019
- Revised Manuscript: December 10, 2019
- Manuscript Accepted: December 17, 2019
- Published: February 10, 2020

Abstract

This paper presents a new, to the best of our knowledge, calibration method for line-structured light vision sensors. The laser stripe intersecting the cylindrical target and the line-structured light is captured by the camera, and the light plane parameters of the line-structured light are obtained by combining the cross-sectional characteristics of the ellipse. The nonlinear optimization of the light plane parameters use multiple locations to get the optimal solution of the light plane equation. This method requires only a single cylindrical target, which in turn greatly simplifies the calibration process. The results of simulation experiments and physical experiments show that the proposed calibration method can achieve higher calibration accuracy and measurement accuracy. The effectiveness of the new calibration method is verified.

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		Zhou’s Method			Proposed Method (3 Times)			Proposed Method (1 Time)
	Index	$d r$	$d p$	$Δ d$	$d r$	$d p$	$Δ d$	$d r$	$d p$	$Δ d$
First position	1	23.60	23.58	−0.02	23.60	23.57	−0.03	23.60	23.53	−0.07
	2	23.60	23.59	−0.09	23.60	23.59	−0.01	23.60	23.55	−0.05
	3	23.60	23.56	−0.05	23.60	23.55	−0.05	23.60	23.51	−0.09
	4	23.60	23.54	−0.06	23.60	23.54	−0.06	23.60	23.49	−0.11
	5	23.60	23.58	−0.02	23.60	23.58	−0.02	23.60	23.53	−0.07
Second position	1	23.60	23.61	0.01	23.60	23.60	−0	23.60	23.5	−0.0
	2	23.60	23.57	−0.03	23.60	23.56	−0.0	23.60	8	2
	3	23.60	23.65	0.05	23.60	23.64	4	23.60	23.5	−0.0
	4	23.60	23.59	−0.01	23.60	23.58	0.04	23.60	3	7
	5	23.60	23.57	−0.03	23.60	23.57	−0.0	23.6	23.6	0.01
							2	0	1	−0.0
							−0.0		23.5	6
							3		4	−0.0
									23.5	7
									3
	RMS error				0.03			0.04			0.07

		Wei’s Method			Proposed Method (3 Times)			Proposed Method (1 Time)
	Index	$x$ (mm)	$y$ (mm)	$z$ (mm)	$x$ (mm)	$y$ (mm)	$z$ (mm)	$x$ (mm)	$y$ (mm)	$z$ (mm)
First position	1	107.586	−100.948	1019.034	107.545	−100.910	1018.653	107.422	−100.794	1017.483
	2	87.373	−90.096	1024.473	87.343	−90.065	1024.114	87.231	−89.950	1022.805
	3	67.009	−78.751	1028.102	66.987	−78.726	1027.766	66.893	−78.616	1026.330
	4	46.658	−67.286	1031.150	46.644	−67.266	1030.839	46.574	−67.164	1029.279
	5	26.316	−55.728	1033.760	26.309	−55.713	1033.475	26.266	−55.622	1031.794
	6	5.939	−44.101	1036.154	5.938	−44.090	1035.895	5.928	−44.014	1034.093
Second position	1	19.831	−47.255	1013.042	19.826	47.244	1012.790	19.785	−47.171	1011.232
	2	0.466	−34.631	1008.229	0.465	−34.624	1008.010	0.465	−34.568	1006.393
	3	−19.319	−22.166	1005.257	−19.315	−22.162	1005.068	−19.283	−22.125	1003.377
	4	−38.683	−9.514	1000.317	−38.677	−9.513	1000.160	−38.609	−9.496	998.412
	5	−58.399	2.991	996.980	−58.392	2.991	996.854	−58.285	2.986	995.036
	6	−78.091	15.494	993.592	−78.083	15.492	993.496	−77.935	15.463	991.609

		Zhou’s Method			Proposed Method (3 Times)			Proposed Method (1 Time)
	Index	$d r$	$d p$	$Δ d$	$d r$	$d p$	$Δ d$	$d r$	$d p$	$Δ d$
First position	1	23.60	23.58	−0.02	23.60	23.57	−0.03	23.60	23.53	−0.07
	2	23.60	23.59	−0.09	23.60	23.59	−0.01	23.60	23.55	−0.05
	3	23.60	23.56	−0.05	23.60	23.55	−0.05	23.60	23.51	−0.09
	4	23.60	23.54	−0.06	23.60	23.54	−0.06	23.60	23.49	−0.11
	5	23.60	23.58	−0.02	23.60	23.58	−0.02	23.60	23.53	−0.07
Second position	1	23.60	23.61	0.01	23.60	23.60	−0	23.60	23.5	−0.0
	2	23.60	23.57	−0.03	23.60	23.56	−0.0	23.60	8	2
	3	23.60	23.65	0.05	23.60	23.64	4	23.60	23.5	−0.0
	4	23.60	23.59	−0.01	23.60	23.58	0.04	23.60	3	7
	5	23.60	23.57	−0.03	23.60	23.57	−0.0	23.6	23.6	0.01
							2	0	1	−0.0
							−0.0		23.5	6
							3		4	−0.0
									23.5	7
									3
	RMS error				0.03			0.04			0.07

		Wei’s Method			Proposed Method (3 Times)			Proposed Method (1 Time)
	Index	$x$ (mm)	$y$ (mm)	$z$ (mm)	$x$ (mm)	$y$ (mm)	$z$ (mm)	$x$ (mm)	$y$ (mm)	$z$ (mm)
First position	1	107.586	−100.948	1019.034	107.545	−100.910	1018.653	107.422	−100.794	1017.483
	2	87.373	−90.096	1024.473	87.343	−90.065	1024.114	87.231	−89.950	1022.805
	3	67.009	−78.751	1028.102	66.987	−78.726	1027.766	66.893	−78.616	1026.330
	4	46.658	−67.286	1031.150	46.644	−67.266	1030.839	46.574	−67.164	1029.279
	5	26.316	−55.728	1033.760	26.309	−55.713	1033.475	26.266	−55.622	1031.794
	6	5.939	−44.101	1036.154	5.938	−44.090	1035.895	5.928	−44.014	1034.093
Second position	1	19.831	−47.255	1013.042	19.826	47.244	1012.790	19.785	−47.171	1011.232
	2	0.466	−34.631	1008.229	0.465	−34.624	1008.010	0.465	−34.568	1006.393
	3	−19.319	−22.166	1005.257	−19.315	−22.162	1005.068	−19.283	−22.125	1003.377
	4	−38.683	−9.514	1000.317	−38.677	−9.513	1000.160	−38.609	−9.496	998.412
	5	−58.399	2.991	996.980	−58.392	2.991	996.854	−58.285	2.986	995.036
	6	−78.091	15.494	993.592	−78.083	15.492	993.496	−77.935	15.463	991.609

Abstract

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Tables (2)

Equations (16)

Applied Optics