Infrared and Laser Engineering, Volume. 54, Issue 1, 20240390(2025)
Line structured light calibration method based on binocular stereo vision
Figures & Tables(20)
Fig. 13. 3D reconstruction results of the three standard blocks by the proposal
Fig. 15. Line plots of measurement results between proposed method and Keyence sensors
Fig. 16. Bar graph of the absolute error between proposed method and Keyence sensors
Table 1. The calibration results of the camera
View tableView in ArticleTable 1. The calibration results of the camera
Left camera Right camera Series number 01 02 Internal parameters $ \left[\begin{array}{ccc}3\;400.8& 0.150\;0& 654.4\\ 0& 3\;399.9& 524.4\\ 0& 0& 1\end{array}\right] $ $ \left[\begin{array}{ccc}3\;396.1& 0.165\;5& 650.2\\ 0& 3\;395.3& 512.2\\ 0& 0& 1\end{array}\right] $ Radial distortion $ \left[\begin{array}{ccc}-0.065\;0& 0.345\;0& 0.127\;8\end{array}\right] $ $ \left[\begin{array}{ccc}-0.064\;9& -0.010\;6& 0.365\;4\end{array}\right] $ Tangential distortion $ \left[\begin{array}{cc}-0.000\;9& 0.001\;5\end{array}\right] $ $ \left[\begin{array}{cc}-0.001\;5& 0.001\;7\end{array}\right] $ External parameters Rotation matrix： $ \left[\begin{array}{ccc}0.993\;7& -0.019\;8& -0.109\;6\\ 0.0185& 0.999\;7& -0.012\;8\\ 0.109\;8& 0.010\;7& 0.993\;8\end{array}\right] $ Translation vector： $ \left[\begin{array}{ccc}-43.737\;0& 0.640\;6& 7.783\;5\end{array}\right] $ Re-projection error 0.04 pixel
Table 2. Parameters of the laser plane equation
View tableView in ArticleTable 2. Parameters of the laser plane equation
A B C D 3.4231 0.0564 1.0000 − 403.6798
Table 3. Comparative analysis of varying solutions
View tableView in ArticleTable 3. Comparative analysis of varying solutions
Block Method Standard Block Size Cross-ratio invariant method Hidden line elimination method Proposed method 1 10.000 10.0828 10.2586 10.0312 2 11.000 11.1025 11.1128 11.0351 3 13.000 13.0869 13.3021 13.0340
Table 4. Comparison between proposed method and the measurement values of Keyence sensors
View tableView in ArticleTable 4. Comparison between proposed method and the measurement values of Keyence sensors
Number Block 1 2 3 4 5 Average 1 Reference value 10.000 Keyence 9.9500 9.9500 9.9600 9.9400 9.9600 9.9720 Proposed method 10.0411 10.0339 10.0299 10.0155 10.0355 10.0312 Error of Keyence − 0.0500 − 0.0500 − 0.0400 − 0.0600 − 0.0400 − 0.0480 Error of proposed method 0.0411 0.0339 0.0299 0.0155 0.0335 0.0308 2 Reference value 11.000 Keyence 10.9400 10.9500 10.9400 10.9600 10.9600 10.9500 Proposed method 11.0542 11.0228 11.0436 11.0214 11.0336 11.0351 Error of Keyence − 0.0600 − 0.0500 − 0.0600 − 0.0400 − 0.0400 − 0.0500 Error of proposed method 0.0542 0.0228 0.0436 0.0214 0.0336 0.0351 3 Reference value 13.000 Keyence 12.9500 12.9400 12.9700 12.9500 12.9300 12.9480 Proposed method 13.0421 13.0542 13.0214 13.0312 13.0211 13.0340 Error of Keyence − 0.0500 − 0.0600 − 0.0300 − 0.0500 − 0.0700 − 0.0520 Error of proposed method 0.0421 0.0542 0.0214 0.0312 0.0211 0.0340
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Xingxu YAN, Hubing DU, Hui WANG, Bo TANG, Gaopeng ZHANG, Jinge JIA. Line structured light calibration method based on binocular stereo vision[J]. Infrared and Laser Engineering, 2025, 54(1): 20240390
Paper Information
Category: 光电测量
Received: Aug. 30, 2024
Accepted: --
Published Online: Feb. 12, 2025
The Author Email: ZHANG Gaopeng (zhanggaopeng@opt.ac.cn)
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