On structured light vision sensor calibration in a robot based 3D laser scanning system

Authors:
Tiecheng Fan;Defeng Wu;Zi Ma;Aiguo Li
Affiliations:
Automation Research Center, Dalian Maritime University, Dalian, China;Automation Research Center, Dalian Maritime University, Dalian, China;Automation Research Center, Dalian Maritime University, Dalian, China;Automation Research Center, Dalian Maritime University, Dalian, China
Venue:
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Year:
2009

Citing 3
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Techniques for Calibration of the Scale Factor and Image Center for High Accuracy 3-D Machine Vision Metrology

IEEE Transactions on Pattern Analysis and Machine Intelligence
Applying machine vision

Applying machine vision
Self-recalibration of a structured light system via plane-based homography

Pattern Recognition

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Abstract

A robot based 3D laser scanning system which a structured light vision sensor is mounted on the 6 degree-of-freedom robot is proposed to overcome the disadvantages of coordinate measuring machine (CMM). As to calibrate the vision sensor, a novel procedure that utilizes the robot to generate sufficient calibration points with high accuracy is proposed. An improved Tsai's method and a multilayer perceptron neural network (MLPNN) approach to calibrate the vision sensor are presented. The experimental performance comparisons are made between the above two approaches. Results demonstrate that both of the two presented methods can achieve an accurate model for the structured light vision sensor.