Journal of Electrical Engineering and Technology

The Korean Institute of Electrical Engineers (대한전기학회)
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Calibration of Structured Light Vision System using Multiple Vertical Planes

  • Ha, Jong Eun (Dept. of Mechanical & Automotive Engineering, Seoul National University of Science & Technology)
  • Received : 2017.01.05
  • Accepted : 2017.07.27
  • Published : 2018.01.01
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Abstract

Structured light vision system has been widely used in 3D surface profiling. Usually, it is composed of a camera and a laser which projects a line on the target. Calibration is necessary to acquire 3D information using structured light stripe vision system. Conventional calibration algorithms have found the pose of the camera and the equation of the stripe plane of the laser under the same coordinate system of the camera. Therefore, the 3D reconstruction is only possible under the camera frame. In most cases, this is sufficient to fulfill given tasks. However, they require multiple images which are acquired under different poses for calibration. In this paper, we propose a calibration algorithm that could work by using just one shot. Also, proposed algorithm could give 3D reconstruction under both the camera and laser frame. This would be done by using newly designed calibration structure which has multiple vertical planes on the ground plane. The ability to have 3D reconstruction under both the camera and laser frame would give more flexibility for its applications. Also, proposed algorithm gives an improvement in the accuracy of 3D reconstruction.

Keywords

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Fig. 1. The projection of a point under pin-hole cameraassumption

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Fig. 2. Proposed calibration structure which has multiplevertical planes on the ground plane

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Fig. 3. Experimental setup of structured light stripe systemconfiguration with a camera, a slit laser and acalibration structure: (a) calibration structure withmultiple slits; (b) calibration structure with multiplevertical planes

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Fig. 4. Points used in the camera calibration: (a) calibrationstructure with multiple slits; (b) calibration structurewith multiple vertical planes

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Fig. 5. Control points used for the laser calibration incalibration structure having multiple slits: (a) fromvertical planes; (b) from the ground plane

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Fig. 6. Control points used for the laser calibration incalibration structure having multiple vertical planes

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Fig. 7. Points used in evaluating 3D reconstructionaccuracy: (a) calibration structure with multiple slits;(b) calibration structure with multiple verticalplanes

Table 1. The result of camera calibration and extrinsic parameters from camera to laser by proposed and our previous [13] algorithm

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Table 2. The comparison of the accuracy of 3D recon-struction by proposed algorithm and our previous algorithm [13]

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