Vision reconstruction based on planar laser with nonrestrictive installation position and posture relative to 2D...

Area of Science:

• Computer Vision
• Robotics
• Metrology

Background:

• Active vision systems utilize structured light for spatial object characterization.
• Planar lasers offer robustness in challenging illumination but require precise calibration.
• Existing methods necessitate fixed or pre-calibrated sensor setups.

Purpose of the Study:

• To develop a flexible calibration method for planar laser sensors in active vision.
• To enable registration of the laser plane within the camera's coordinate frame (CFC) without strict installation constraints.
• To improve the adaptability of 3D reconstruction in complex environments.

Main Methods:

• A novel closed-loop calibration model involving a camera, cylindrical object, planar laser, and a 2D reference.
• The camera acts as a bridge, allowing the laser plane to be flexibly moved and registered in CFC.
• The planar laser is determined as a constant vector in the coordinate frame of reference (CFR).

Main Results:

• Experimental errors ranged from 1.263 to 1.803 mm, demonstrating method accuracy.
• The proposed calibration method provides flexibility in sensor placement and posture.
• Successful spatial reconstruction was achieved using the calibrated laser plane and optimization.

Conclusions:

• The developed method offers a flexible and robust approach to planar laser calibration for active vision.
• This technique enhances the applicability of spatial reconstruction in diverse and complex scenarios.
• The findings pave the way for more adaptable and user-friendly 3D measurement systems.