A novel stereo vision sensor for fast moving objects

In this paper, we propose a novel stereo vision sensor for the automatic 3-D dynamic surface measurement, which is able to simultaneously acquire the 2-D scan image and the 3-D reconstruction results. The proposed system mainly concludes a line scan camera, a frame camera and two line lasers. Due to the application of line lasers, the proposed system is able to work accurate and stable under complex lighting condition. About our system, the view plane of line scan camera and the light plane of line laser are in coincidence. First, the calibration of intrinsic, extrinsic parameters and the light plane coefficients are obtained. Epipolar line is calculated to extract the accurate position of image point corresponding to each pixel of line scan camera. Finally, the 3-D shape is reconstructed according to binocular stereo vision model. The 2-D image and 3-D façade information can be synchronously acquired by scanning over objects. Physical experiments show that the proposed stereo vision sensor can provide robust and accurate results.