Calibration method of line-structured light sensors based on a hinge-connected target with arbitrary pinch angles

Abstract

Line-structured light 3D measurement is often used for 3D contour reconstruction of objects in complex industrial environments, where light plane calibration is a key step. In this paper, we propose a calibration method for a line-structured optical system based on a hinge-connected double-checkerboards stereo target. First, the target is moved randomly in multiple positions at any angle within the camera measurement space. Then, by acquiring any one image of the target with line-structured light, the 3D coordinates of the light stripes feature points are solved with the help of the external parameter matrix of the target plane and the camera coordinate system. Finally, the coordinate point cloud is denoised and used to quadratically fit the light plane. Compared with the traditional line-structured measurement system, the proposed method can acquire two calibration images at once; thus, only one image of line-structured light is needed to complete the light plane calibration. There is no strict requirement for the target pinch angle and placement, which improve system calibration speed with high accuracy. The experimental results show that the maximum RMS error of this method is 0.075 mm, and the operation is simpler and more effective to meet the technical requirements of industrial 3D measurement.