Infrared and Laser Engineering, Volume. 51, Issue 8, 20210778(2022)

Parameter adaptive calibration method in monocular structured light measurement

Maoyue Li, Guifeng Xiao, Dongchen Cai, and Weixiang Zhao
Author Affiliations
  • School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China
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    Figures & Tables(20)
    Integral measuring platform and automatic parameter adjusting device. (a) Overall measurement platform; (b) Automatic adjustment device
    Angular point information and area of calibration plate. (a) Angular point extraction; (b) The proportion of area
    Aperture size-calibration error figure
    Influence of image clarity and focusing accuracy on calibration. (a) Image clarity value; (b) Calibration error; (c) Fitting relationship between image clarity and calibration error
    Comparison results of different evaluation functions
    Adaptive focus window algorithm flow
    Focus evaluation results. (a) Comparison between traditional and improved function; (b) Comparison between no threshold and automatic threshold; (c) Comparison results of different evaluation functions
    [in Chinese]
    Parameter adjustment search algorithm flow
    Camera calibration process
    Standard gauge block point cloud. (a) Original image of the standard quantity block; (b) Manual tuning of the standard block point cloud; (c) Automatic adjustment of standard block point cloud
    Aviation blade point cloud. (a) Manual adjustment of aviation blade point cloud; (b) Automatic adjustment of aviation blade point cloud
    Point cloud on the back of hand. (a) Manual adjustment of hand measurement map and point cloud; (b) Automatic adjustment of hand measurement map and point cloud
    • Table 1. Area proportion-calibration error table

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      Table 1. Area proportion-calibration error table

      Order number1234567
      Calibrated image
      Proportion18.07%20.75%25.17%35.86%44.99%55.162%64.46%
      Calibrated reprojection error/pixel0.0690.0600.0570.0560.0730.0770.083
    • Table 2. Calibration process when aperture size changes

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      Table 2. Calibration process when aperture size changes

      Figure number1-45-3839-50
      Calibrated process
      ResultsFailedSuccessfulFailed
    • Table 3. Experimental parameter table

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      Table 3. Experimental parameter table

      ParameterNumerical value1Numerical value2
      The portion of calibration plate area25%35%
      Object distance/mm500,550,600,650,700,750,800,850,900
      Fitting diagramArea ratio of calibration plate at 25% Area ratio of calibration plate at 35%
    • Table 4. Run time of the different functions

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      Table 4. Run time of the different functions

      FunctionRunning time/sFunctionRunning time/sFocus window/ pixel
      Robers0.1997DCT1.142250×50
      Tenengrad0.4592Entropy0.1743
      Brenner0.1719Range0.1008
      Variance0.1959Vollaths0.1883
      DFT0.5339Improved brenner0.1054
    • Table 5. Collection and transmission equipment parameter table

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      Table 5. Collection and transmission equipment parameter table

      Camera parametersModelMER-130-30 UM-L
      Lens parametersModelVST zoom lens
      Ultimate angle of the focal120
      Ultimate angle of the focus/(°)120
      Ultimate angle of light circle/(°)70
      Focus/mm8-50
      ProjectorModelTJ-X20 H-1122 Micro projector
      Calibration plateModelGRB120-11×9
      Size/mm120×100
      Number of dots11×9
      Diameter of the dot/mm5 (Large) , 2.5 (Small)
      Precision/mm±0.01
      Centerline spacing/mm10
      MotorStep angle/(°)1.8
      GearGear ratio1.74
    • Table 6. Calibration reprojection error table

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      Table 6. Calibration reprojection error table

      NumberError (manual)/pixelError (automatic)/pixel
      10.04853790.0410620
      20.05402400.0300827
      30.05729280.0353055
      40.05034780.0329988
      50.06532240.0409480
      60.06052630.0408079
      70.04941010.0305996
      80.06031560.0398761
      90.05173740.0395038
      Average error0.05527630.0367982
    • Table 7. Camera calibration parameters

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      Table 7. Camera calibration parameters

      Manual parameter adjustmentCamera internal parameters[2715.768690, 0.000000, 677.444463; 0.000000, 2716.073682, 480.832432; 0.000000, 0.000000,1.000000]
      Distortion coefficient[−0.796240,−0.976369, 0.000137,−0.006140]
      Automatic parameter adjustmentCamera internal parameters[2724.473145,0.000000,671.682251; 0.000000,2724.315674,482.934296; 0.000000,0.000000,1.000000]
      Distortion coefficient[−0.522759,−0.608818, 0.000105,−0.000919]
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    Maoyue Li, Guifeng Xiao, Dongchen Cai, Weixiang Zhao. Parameter adaptive calibration method in monocular structured light measurement[J]. Infrared and Laser Engineering, 2022, 51(8): 20210778

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    Paper Information

    Category: Phtotoelectric measurement

    Received: Dec. 13, 2021

    Accepted: --

    Published Online: Jan. 9, 2023

    The Author Email:

    DOI:10.3788/IRLA20210778

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