Multiline Laser Classification and Optical Plane Calibration Method

Table 1. Camera calibration parameters
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Table 1. Camera calibration parameters
Parameter Value
Camera internal parameter $K = [\begin{matrix} 2525.6461 & 0 & 630.0736 \\ 0 & 2526.2245 & 505.3871 \\ 0 & 0 & 1 \end{matrix}]$
Radial distortion coefficient $k_{1} = - 0.0484, k_{2} = - 0.0104$

Table 2. Measured distance of characteristic points
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Table 2. Measured distance of characteristic points
Test No. Measured distance Error
1 9.982 0.018
2 9.986 0.014
3 9.998 0.002
4 9.997 0.003
5 10.002 0.002
6 10.008 0.008
7 10.004 0.004
8 9.994 0.006
9 9.988 0.012
10 9.990 0.010

Table 3. Calibration results of multi-line laser plane

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Table 3. Calibration results of multi-line laser plane

Laser wire No.	0	1	2	3	4	5	6
Parameter A	1	1	1	1	1	1	1
Parameter B	-2.354	-2.371	-2.421	-2.506	-2.592	-2.668	-2.831
Parameter C	0.343	0.193	0.0438	-0.111	-0.276	-0.455	-0.642
Parameter D	102.365	103.239	104.459	105.923	107.618	110.281	108.062

Table 4. Ten measurement data of step size of the standard block

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Table 4. Ten measurement data of step size of the standard block

No.	1	2	3	4	5	6	7	8	9	10
Height of the first step	1.002	1.031	1.036	1.030	1.022	1.019	1.024	1.023	1.014	0.992
Height of the second step	0.471	0.521	0.487	0.525	0.514	0.524	0.541	0.486	0.472	0.533
Height of the third step	0.331	0.288	0.330	0.342	0.282	0.348	0.315	0.262	0.266	0.358

Table 5. Measurement data of step accuracy of the standard block

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Table 5. Measurement data of step accuracy of the standard block

Step No.	Standard block true value	Average size measured by the proposed algorithm	Average size measured by the cross ratio invariance algorithm
The first step	1.0	1.02	0.96
The second step	0.5	0.51	0.46
The third step	0.3	0.32	0.22

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Tianci Liu, Guihua Liu, Huiming Huang, Li Hu, Liangliang Li. Multiline Laser Classification and Optical Plane Calibration Method[J]. Laser & Optoelectronics Progress, 2023, 60(22): 2215003

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