Acta Photonica Sinica, Volume. 51, Issue 11, 1112001(2022)
Calibration Method of 3D Laser Projection Based on Homography Matrix
Figures & Tables(10)
Fig. 1. 1∶1 projection of target contour（triangle）from digital analog to real object
Table 1. 0.5
～ 3 m homography matrix H1，H2 and the corresponding reprojection errorView tableView in ArticleTable 1. 0.5
～ 3 m homography matrix H1，H2 and the corresponding reprojection errorDistance/m H 1e1/pixel H 2e2/pixel 0.5 2.30 0.03 715.22 0.050 0.04 0.00 -32.73 0.296 0.14 -2.11 516.78 0.00 -0.03 19.03 0.00 0.00 1.00 0.00 0.00 1.00 1.0 0.00 -2.09 735.76 0.040 0.04 0.00 -30.98 0.302 -1.99 -0.06 527.94 0.00 -0.04 31.78 0.00 0.00 1.00 0.00 0.00 1.00 1.5 1.87 -0.09 580.96 0.050 0.05 0.00 -22.50 0.432 0.07 -1.88 576.60 0.00 -0.04 25.35 0.00 0.00 1.00 0.00 0.00 1.00 2.0 -1.96 -0.07 504.46 0.050 0.04 0.00 -22.98 0.450 -0.08 1.91 429.27 0.00 -0.05 22.47 0.00 0.00 1.00 0.00 0.00 1.00 2.5 -1.95 -0.11 808.60 0.050 0.04 0.00 -37.39 0.532 -0.09 1.90 390.61 0.00 -0.04 19.56 0.00 0.00 1.00 0.00 0.00 1.00 3.0 0.03 -2.25 675.84 0.060 0.04 0.00 -30.04 0.542 -2.23 0.07 494.67 0.00 -0.04 26.85 0.00 0.00 1.00 0.00 0.00 1.00
Table 2. Accuracy analysis with a projection distance of 1.5 m
View tableView in ArticleTable 2. Accuracy analysis with a projection distance of 1.5 m
Circle1 Circle2 Circle3 Circle4 Target circle center of calibration board 580.942 577.481 660.280 656.734 576.541 519.386 575.451 518.742 Projected torus center 580.824 577.161 660.238 656.564 576.898 519.614 575.572 518.941 Pixel error/pixel 0.375 0.392 0.128 0.261 Actual distance/mm 0.20 0.21 0.16 0.14 Average error/mm 0.18
Table 3. Analysis of experimental data with a projection distance of 0.5~3 m
View tableView in ArticleTable 3. Analysis of experimental data with a projection distance of 0.5~3 m
Distance/m Homographic transformation method error/mm Average error/mm Calibration time/min Circle1 Circle2 Circle3 Circle4 0.5 0.050 0.167 0.147 0.110 0.118 5 1.0 0.105 0.175 0.140 0.175 0.148 5 1.5 0.202 0.211 0.169 0.140 0.181 5 2.0 0.250 0.132 0.275 0.243 0.225 5 2.5 0.186 0.244 0.342 0.270 0.266 5 3.0 0.280 0.138 0.176 0.391 0.271 5
Table 4. Accuracy comparision
View tableView in ArticleTable 4. Accuracy comparision
Method Distance of projection/m Error of projection/mm Accuracy improvement effect Approximate model method/look-up table method［ 4 ］1 0.500 / Smart laser 3D projection method［ 7 ］3 0.400 / Werklicht Pro 1 0.100 / Werklicht Pro 3 0.300 / Calibration method in this article 1 0.148 60% Calibration method in this article 3 0.271 32%
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Zuyang ZHAO, Haihua CUI, Kunpeng DU, Yiming QU, Dong QUAN, Zhiguo MU. Calibration Method of 3D Laser Projection Based on Homography Matrix[J]. Acta Photonica Sinica, 2022, 51(11): 1112001
Paper Information
Category: Instrumentation, Measurement and Metrology
Received: May. 12, 2022
Accepted: Jun. 10, 2022
Published Online: Dec. 13, 2022
The Author Email: CUI Haihua (cuihh@nuaa.edu.cn)
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