Fig. 1. Light stripe image and its normal grayscale distribution when diffuse reflection coefficient is uneven. (a) Light strip image; (b) gray scale distribution in normal direction of light strip

Fig. 2. Influence of uneven diffuse reflection coefficient on coordinate error of center pixel of light stripe

Fig. 3. Effects of projecting laser lines onto chessboard pattern. (a) Black squares are exposed appropriately, while white squares are overexposed; (b) white squares are exposed appropriately, while black squares are underexposed

Fig. 4. Comparison between ideal projection and actual projection effects under small field of view. (a) Ideal projection effect; (b) actual projection effect

Fig. 5. Comparison of influence of target feature point dimensions on light plane calibration under different noise levels. (a) Extraction error of chessboard corner increases; (b) extraction error of the light strip center increases

Fig. 6. Mathematical model for line structured light calibration based on plane intersection method

Fig. 7. Schematic diagram of light plane calibration based on unified homography estimation

Fig. 8. Target normal vector variation and distance estimation results. (a) Change in normal vector angle; (b) comparison of distance estimation

Fig. 9. Micro-line structured light sensor

Fig. 10. Schematic diagram of plane displacement distance comparison experiment

Fig. 11. Comparison experiment of plane spacing between two calibration methods

Fig. 12. Comparison experiment of calibration repeatability between two methods