Constructing method of feature points used for calibrating structured light vision sensor

A novel method to construct non-collinear feature points used for calibrating structured light vision sensor with coplanar reference object is proposed. After the coplanar reference object is moved freely in the range of measuring of the sensor at least twice, all the local world coordinates of the feature points lying on the light plane can be readily obtained on site. The global world coordinates of the non-collinear feature points in the local world coordinate frame can be computed through the three dimensional camera coordinate frame. The proposed approach greatly reduces the cost of the calibration equipment and simplifies the calibrating procedure, so it can promote the engineering application of the structured light vision sensor handily. This method is practical in the vision inspection application by experiments.