Simultaneous Calibration of the Intrinsic and Extrinsic Parameters of Ultra-Large-Scale Line Structured-Light Sensor

Fig. 12. Scanning error results of standard balls. (a) Errors between the fitted and standard radius; (b) maximum error of positive and negative phase; (c) errors between standard spherical centers’ and measured distance

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Fig. 13. Comparison of the spherical centers’ distance errors between method 1 and 2

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Table 1. Fitting result of circulararc of multi positions

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Table 1. Fitting result of circulararc of multi positions

No.	R /mm	D /mm	Relative error /%	Center coordinate /mm
1	30.1657	0.1562	0.517807	(63.6371,90.5501,1378.8962)
2	30.0496	0.1481	0.492852	(75.7314,-79.1138,1099.9306)
3	29.8905	0.1259	0.421204	(-176.8592,-107.6003,1056.3259)
4	29.7913	0.1875	0.629378	(31.6694,65.5633,-1124.8716)
5	29.6742	0.1672	0.563452	(31.0807,9.4334,-1215.8757)
6	29.5296	0.1872	0.633940	(113.8268,75.2721,-1110.0918)
7	29.1118	0.1591	0.546514	(137.1649,-86.5504,1087.2389)
8	28.9864	0.1575	0.543358	(-72.3052,-7.6233,1217.3944)
9	28.9030	0.1419	0.490952	(-53.3073,-48.7075,-1309.1590)
10	28.7248	0.1485	0.516975	(256.5610,-2.2245,-1237.4199)
11	28.6963	0.1404	0.489262	(-195.9803,32.6438,-1175.5815)
12	28.3840	0.1255	0.442151	(-33.5220,-27.4495,1184.8420)
13	28.2964	0.1801	0.636477	(-31.5336,-45.9962,1154.7424)
14	26.3839	0.1455	0.551473	(174.6202,-12.2716,-1252.7506)
15	26.2210	0.1709	0.651768	(-196.0525,32.5104,-1175.7969)
Max	-	0.1875	0.651768	-

Table 2. Multi-position fitting result of three standard balls

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Table 2. Multi-position fitting result of three standard balls

No.	Ball name	$\begin{matrix} {d_{1}}_{} \end{matrix}$ /mm	$\begin{matrix} {d_{2}}_{} \end{matrix}$ /mm	$\begin{matrix} {d_{3}}_{} \end{matrix}$ /mm	Center distance name	$\begin{matrix} {d_{4}}_{} \end{matrix}$ /mm
1	A	30.3042	-0.2592	0.2447	AB	152.2060
	B	30.2496	-0.2256	0.2591	AC	220.6504
	C	30.1968	-0.2414	0.2369	BC	221.8256
2	A	30.2013	-0.2493	0.2224	AB	152.2879
	B	30.0540	-0.2363	0.2196	AC	220.5852
	C	30.1448	-0.2595	0.2408	BC	221.8299
3	A	30.2224	-0.2378	0.2849	AB	152.2185
	B	30.0755	-0.2467	0.2738	AC	220.6547
	C	30.1689	-0.2230	0.2048	BC	221.8093
4	A	30.1524	-0.2237	0.2771	AB	152.2767
	B	30.1429	-0.2677	0.2562	AC	220.6646
	C	30.1268	-0.2492	0.2419	BC	221.8034
5	A	30.1930	-0.2611	0.2613	AB	152.2180
	B	30.1529	-0.2013	0.2229	AC	220.6431
	C	30.1287	-0.2315	0.2457	BC	221.8063

Table 3. Measured results of the spherical centers’ distance of step calibration
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Table 3. Measured results of the spherical centers’ distance of step calibration
Measurement number $\begin{matrix} {d_{AB}}_{} \end{matrix}$ /mm $\begin{matrix} {d_{AC}}_{} \end{matrix}$ /mm $\begin{matrix} {d_{BC}}_{} \end{matrix}$ /mm
1 152.2740 220.6260 221.8902
2 152.3220 220.7032 221.8552
3 152.2692 220.7063 221.7872
4 152.2431 220.6708 221.7816
5 152.2548 220.6276 221.8423

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Xie Zexiao, Zhang Anqi. Simultaneous Calibration of the Intrinsic and Extrinsic Parameters of Ultra-Large-Scale Line Structured-Light Sensor[J]. Acta Optica Sinica, 2018, 38(3): 315001

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