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Chinese Journal of Lasers, Volume. 44, Issue 10, 1004003(2017)

Extrinsic Parameters Calibration of Three-Dimensional Measurement System for Ultra-Large Scale Line-Structured Light Sensor

Xie Zexiao*, Zhu Ruixin, and Zhang Anqi
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    Figures&Tables (13)
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    References (18)
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    Figures & Tables(13)
    Three-dimensional measurement system with ultra-large scale line-structured light sensor.(a) Measurement range of line-structured light sensor; (b) physical map of system

    Fig. 1. Three-dimensional measurement system with ultra-large scale line-structured light sensor.(a) Measurement range of line-structured light sensor; (b) physical map of system

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    Mathematical model of line-structured light scanning measurement system

    Fig. 2. Mathematical model of line-structured light scanning measurement system

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    Physical map of one-dimensional target

    Fig. 3. Physical map of one-dimensional target

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    Schematic of extrinsic parameter calibration principle in line-structured light sensor

    Fig. 4. Schematic of extrinsic parameter calibration principle in line-structured light sensor

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    Three standard balls for accuracy test of system

    Fig. 5. Three standard balls for accuracy test of system

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    Point cloud data on standard ball

    Fig. 6. Point cloud data on standard ball

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    Error distribution between fitted sphere and point cloud

    Fig. 7. Error distribution between fitted sphere and point cloud

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    Error analysis of system. (a) Standard deviation of point clouds; (b) ball radius error

    Fig. 8. Error analysis of system. (a) Standard deviation of point clouds; (b) ball radius error

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    Physical map of measured work piece

    Fig. 9. Physical map of measured work piece

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    Measurement effect image of measured work piece

    Fig. 10. Measurement effect image of measured work piece

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    • Table 1. Extrinsic-parameter calibration results of line-structured light sensor

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      Table 1. Extrinsic-parameter calibration results of line-structured light sensor

      Calibration No.Xm-axis calibration resultYm-axis calibration result
      cosθxcosθycosθzcosθxcosθycosθz
      10.003299-0.8418630.539682-0.999865-0.0138070.008895
      20.003291-0.8417900.539796-0.999874-0.0133570.008542
      30.003229-0.8418630.539682-0.999883-0.0130620.007935

    • Table 2. Maximum deviations between fitted sphere and point cloud in positive and negative normal directions

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      Table 2. Maximum deviations between fitted sphere and point cloud in positive and negative normal directions

      No. of ball positionBall nameProposed methodCalibration based on planar target
      d1 /mmd2 /mmd1 /mmd2 /mm
      1A1-0.23050.2469-0.23610.2442
      2B1-0.25050.2147-0.24740.2533
      3C1-0.23300.2343-0.26350.2546
      4A2-0.26670.2525-0.28250.2502
      5B2-0.27210.2550-0.27240.2495
      6C2-0.26920.2554-0.24270.2451
      7A3-0.24690.2346-0.24740.2327
      8B3-0.21000.2450-0.20280.2444
      9C3-0.24090.2108-0.23430.2207
      10A4-0.25060.2268-0.26330.2370
      11B4-0.23850.2379-0.27380.2547
      12C4-0.23840.2392-0.26210.2505
      13A5-0.26370.2503-0.26490.2497
      14B5-0.27720.2578-0.26910.2801
      15C5-0.26410.2516-0.24800.2481
      Maximum deviation-0.27720.2578-0.28250.2801

    • Table 3. Errors of sphere centre distance

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      Table 3. Errors of sphere centre distance

      Name of ballsNo. of ballpositionProposed methodCalibration based on planar target
      M/mmE/mmM/mmE/mm
      1152.36320.3002152.37280.3098
      2152.31530.2523152.34030.2773
      AB3152.32820.2652152.32950.2665
      4152.26020.1972152.30610.2431
      5152.25460.1916152.26480.2018
      1220.92600.5470220.88530.5063
      2220.82600.4470220.78250.4035
      AC3221.00320.6242220.98110.6021
      4220.80630.4273220.75130.3723
      5220.70080.3218220.68960.3106
      1222.20100.4110222.21730.4273
      2222.08180.2918222.07790.2879
      BC3222.34900.5590222.36120.5712
      4222.09620.3062222.08600.2960
      5221.93010.1401221.99810.2081
      Maximum deviation-0.6242-0.6021
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    Xie Zexiao, Zhu Ruixin, Zhang Anqi. Extrinsic Parameters Calibration of Three-Dimensional Measurement System for Ultra-Large Scale Line-Structured Light Sensor[J]. Chinese Journal of Lasers, 2017, 44(10): 1004003

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    Paper Information

    Category: measurement and metrology

    Received: May. 4, 2017

    Accepted: --

    Published Online: Oct. 18, 2017

    The Author Email: Zexiao Xie (xiezexiao@ouc.edu.cn)

    DOI:10.3788/CJL201744.1004003

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology