An accurate calibration method for line structured light vision sensor

A calibration method for line structured light vision sensor that does not require extraction of control points in the light plane is proposed to solve the calibration problem of line structured light vision sensor. The planar target is placed in front of the vision sensor several times. The Plücker matrix of light strip on the target plane is computed. The equation of the light plane in the camera coordinate frame can be solved by combining the Plücker matrixs of the light stripe on the target plane at different positions. The maximum likelihood estimation of the light plane equation is obtained through nonlinear optimization. The proposed method is robust and accurate, because all of the light stripe image points are used to determine the equation of the light plane. Experimental results show that, compared with that of existing calibration methods, the calibration accuracy of the proposed method improves about 30%.