Self-calibration Method of Laser Scanning Projection System Combined with Monocular Vision

Maosheng HOU; Yuqing CHEN; Zhengxue SHI; Zhuyue LI

doi:10.3788/gzxb20215002.0212002

Acta Photonica Sinica, Volume. 50, Issue 2, 134(2021)

Self-calibration Method of Laser Scanning Projection System Combined with Monocular Vision

Maosheng HOU... Yuqing CHEN, Zhengxue SHI and Zhuyue LI |Show fewer author(s)

Key Laboratory of Optoelectronic Measurement and Optical Information Transmission Technology of Ministry of Education， College of Optoelectronic Engineering， Changchun University of Science and Technology， Changchun130022， China

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Figures & Tables(15)

Fig. 1. Schematic diagram of the new laser scanning projection system

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Fig. 2. The particle swarm algorithm solves the flow chart of the coordinate conversion relationship between the monocular camera and the projected object

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Fig. 3. Errors of the translation matrix when the monocular camera rotates at different angles

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Fig. 4. The error of the rotation matrix of the monocular camera rotating at different angles

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Fig. 5. Angular error within the range of 1.5~3 meters offset

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Fig. 6. Error graph of translation matrix of monocular camera at different distances

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Fig. 7. Error of rotation matrix of monocular camera at different distances

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Fig. 8. New laser scanning projection experiment system

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Table 1. Part of the experimental data

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Table 1. Part of the experimental data

Precision

4.534 561 100 2×10^-5

0.408 383

0.3807 02

-0.829 631

-0.816 704

-0.253 54

-0.518 369

-0.407 697

0.889 256

0.207 376

-1 491.742 914

-1 491.474 369

-1 841.039 585

4.693 004 083 4×10^-5

0.407 792

0.381 775

-0.829 429

-0.816 523

-0.254 076

-0.518 39

-0.408 649

0.888 646

0.208 117

-1 490.942 924

-1 492.320 221

-1 841.664 945

4.185 484 991 9×10^-5

0.4082 74

0.381 003

-0.829 546

-0.816 306

-0.254 376

-0.518 591

-0.408 602

0.888 892

0.207 160

-1 491.368 014

-1 494.469 798

-1 840.628 105

4.343 792 082 2×10^-5

0.408 060

0.3812 97

-0.829 516

-0.816 640

-0.253 756

-0.518 368

-0.408 148

0.888 942

0.207 835

-1 491.825 969

-1 491.981 940

-1 841.223 313

Table 2. Errors of the translation matrix when the monocular camera rotates at different angles
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Table 2. Errors of the translation matrix when the monocular camera rotates at different angles
Angle 40° 45° 50° 55° 60° 65° 70° 75°
Error 2.323 8 2.070 5 2.144 7 1.319 3 2.411 0 1.400 0 0.762 3 1.050 4

Table 3. Errors of the rotation matrix of the monocular camera at different angles
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Table 3. Errors of the rotation matrix of the monocular camera at different angles
Angle 40° 45° 50° 55° 60° 65° 70° 75°
Error 0.045 0 0.026 4 0.026 0 0.032 7 0.087 4 0.018 6 0.030 7 0.058 6

Table 4. Error of translation matrix of monocular camera at different distances
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Table 4. Error of translation matrix of monocular camera at different distances
Distance/m 1.5 1.8 2 2.3 2.5 2.8 3 3.3 3.5 3.8 4
Error 0.197 7 0.108 8 1.102 4 1.251 2 0.369 1 1.319 3 0.587 6 1.108 3 2.789 3 1.833 8 4.338 9

Table 5. Rotation matrix errors of monocular cameras at different distances
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Table 5. Rotation matrix errors of monocular cameras at different distances
Distance/m 1.5 1.8 2 2.3 2.5 2.8 3 3.3 3.5 3.8 4
Error 0.003 9 0.003 7 0.050 7 0.032 2 0.027 2 0.032 7 0.116 3 0.053 4 0.043 4 0.075 8 0.101 9

Table 6. The relationship between the moving distance of the monocular camera and the optimal rotation angle
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Table 6. The relationship between the moving distance of the monocular camera and the optimal rotation angle
Distance/m 1.5 1.8 2 2.3 2.5 2.8 3 3.3 3.5 3.8 4
Angle/(°) 65 65 60 60 55 55 55 55 50 50 50

Table 7. Experimental data of laser scanning projection system and new laser scanning projection system

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Table 7. Experimental data of laser scanning projection system and new laser scanning projection system

Matrix

Laser scanning projection system

New laser scanning projection system

0.408 248

0.381 000

-0.829 56

-0.816 496

-0.254 000

-0.518 475

-0.408 248

0.889 001

0.207 390

0.408 264

0.381 032

-0.829 538

-0.816 455

-0.254 047

-0.518 517

-0.408 314

0.888 973

0.207 377

-551.135 19

-1 200.151 20

-1 244.342 03

-552.742 93

-1 199.474 37

-1 245.039 57

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Maosheng HOU, Yuqing CHEN, Zhengxue SHI, Zhuyue LI. Self-calibration Method of Laser Scanning Projection System Combined with Monocular Vision[J]. Acta Photonica Sinica, 2021, 50(2): 134

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Paper Information

Category: Instrumentation, Measurement and Metrology

Received: --

Accepted: --

Published Online: Aug. 26, 2021

The Author Email:

DOI:10.3788/gzxb20215002.0212002

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Part of the experimental data

Table 1. Part of the experimental data

Table 2. Errors of the translation matrix when the monocular camera rotates at different angles

Table 2. Errors of the translation matrix when the monocular camera rotates at different angles

Table 3. Errors of the rotation matrix of the monocular camera at different angles

Table 3. Errors of the rotation matrix of the monocular camera at different angles

Table 4. Error of translation matrix of monocular camera at different distances

Table 4. Error of translation matrix of monocular camera at different distances

Table 5. Rotation matrix errors of monocular cameras at different distances

Table 5. Rotation matrix errors of monocular cameras at different distances

Table 6. The relationship between the moving distance of the monocular camera and the optimal rotation angle

Table 6. The relationship between the moving distance of the monocular camera and the optimal rotation angle

Table 7. Experimental data of laser scanning projection system and new laser scanning projection system

Table 7. Experimental data of laser scanning projection system and new laser scanning projection system

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