Fig. 1. Structural diagram of non-Sham structured line-structured light vision sensor

Fig. 2. Definition of camera imaging model coordinate system

Fig. 3. System architectures based on translation scanning. (a) Translation scanning structure of moving sensor; (b) translation scanning structure of moving object

Fig. 4. Schematic diagram of point cloud stitching based on shift scanning

Fig. 5. System architecture diagram based on rotational scanning

Fig. 6. Illustrations of point cloud stitching through rotation scanning. (a) Space point rotation coordinate transformation; (b) point cloud splicing based on rotation scanning

Fig. 7. System architecture diagram combining translation and rotation scanning.

Fig. 8. Principle of formation of line-structured light

Fig. 9. Impact of uneven brightness of light strip on extraction error of light strip center. (a) Light strip image with uneven brightness; (b) extraction errors of light strip centers with different grayscales

Fig. 10. Assessment experimental results for straightness of light beams from different types of lasers. (a) Line fitting residual of light stripe center of laser 1; (b) line fitting residual of light stripe center of laser 2

Fig. 11. Requirements for laser linewidth from sizes of protrusions and indentations. (a) Requirements for laser linewidths from sizes of protrusions; (b) requirements for laser linewidths from sizes of indentations

Fig. 12. Light plane rapidly diverges along normal direction

Fig. 13. Influences of curvature radius and laser linewidth on sampling position

Fig. 14. Schematic diagram of sensor spatial resolution

Fig. 15. Geometric relationship between center of image light strip and its corresponding point in object space

Fig. 16. Influences of width of light strip W and angle between object and image plane Δφ₀ on measurement error of three-dimensional coordinate of center of light strip

Fig. 17. Schematic diagrams of key parameter selection for rotary table. (a) Angle resolution and angle positioning error; (b) end face swing angle and end face runout error

Fig. 18. Uneven sampling phenomenon when measuring plane using rotary scanning

Fig. 19. Schematic diagram of relationship between key characteristics of components and system performance

Fig. 20. Line-structured light scanning measurement system and physical image of its calibration experimental platform

Fig. 21. Physical images of ceramic gauge block and ceramic standard ball

Fig. 22. Three-dimensional point clouds of gauge blocks and standard ball. (a) Three-dimensional point clouds of gauge blocks; (b) three-dimensional point cloud of standard ball

Fig. 23. Physical images of typical objects in 3D reconstruction experiments

Fig. 24. Results of 3D reconstruction experiments of typical objects. (a) PCB; (b) M6 screw