Calibration of line structured light senor based on active vision systems

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.