NDLI: Calibration of line structured light senor based on active vision systems

Content Provider	IEEE Xplore Digital Library
Author	Yong Qiao Youqin Wang Jinxuan Ning Li Peng
Copyright Year	2013
Description	Author affiliation: Sch. of IoT Eng., Jiangnan Univ., Wuxi, China (Yong Qiao; Youqin Wang; Jinxuan Ning; Li Peng)
Abstract	This paper proposes a new approach to calibrating the line structured light sensor. The setup we use is the wrist-mounted camera for a robot manipulator with a laser projector. The camera motion can be controlled with the motion of the manipulator. According to the special designed motion of the camera, the whole calibration process can be divided into two steps. First, the camera intrinsic parameters and the normal vector of the light plane can be solved by using two groups of pure translational motions with different positions and computing vanishing points. Then, the distance from the origin of camera coordinate system to the light plane can be obtained by two rotational motions. This method needs no reference object and does not have to calibrate target points on the light plane. Also, it can accomplish the self-calibration of the camera intrinsic parameters and the light plane at the same time with fewer motions of manipulator. As a result, the method reduces the computation errors and cost with fewer steps of calibration.
Starting Page	249
Ending Page	252
File Size	203706
Page Count	4
File Format	PDF
ISBN	9781479921508
DOI	10.1109/ICCPS.2013.6893595
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-10-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Camera intrinsic parameters Active vision systems Robot kinematics Robot vision systems Calibration of light plane Cameras Vectors Calibration Vanishing points Equations
Content Type	Text
Resource Type	Article

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