Large depth-of-view portable three-dimensional laser scanner and its segmental calibration for robot vision

doi:10.1016/j.optlaseng.2007.05.006

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	Large depth-of-view portable three-dimensional laser scanner and its segmental calibration for robot vision
	Li, Jianfeng ; Guo, Yongkang ; Zhu, Jianhua ; Lin, Xiangdi ; Xin, Yao ; Duan, Kailiang ; Tang, Qing
作者部门	瞬态光学国家重点实验室
	2007-11-01
发表期刊	OPTICS AND LASERS IN ENGINEERING
ISSN	0143-8166
卷号	45 期号:11 页码:1077-1087
摘要	A portable 3D laser scanning system has been designed and built for robot vision. By tilting the charge coupled device (CCD) plane of portable 3D scanning system according to the Scheimpflug condition, the depth-of-view is successfully extended from less than 40 to 100 mm. Based on the tilted camera model, the traditional two-step camera calibration method is modified by introducing the angle factor. Meanwhile, a novel segmental calibration approach, i.e., dividing the whole work range into two parts and calibrating, respectively, with corresponding system parameters, is proposed to effectively improve the measurement accuracy of the large depth-of-view 3D laser scanner. In the process of 3D reconstruction, different calibration parameters are used to transform the 2D coordinates into 3D coordinates according to the different positions of the image in the CCD plane, and the measurement accuracy of 60 mu m is obtained experimentally. Finally, the experiment of scanning a lamina by the large depth-of-view portable 3D laser scanner used by an industrial robot IRB 4400 is also employed to demonstrate the effectiveness and high measurement accuracy of our scanning system. (C) 2007 Elsevier Ltd. All rights reserved.
文章类型	Article
关键词	Machine Vision Portable 3d Laser Scanning System Scheimpflug Condition Depth-of-view Camera Calibration 3d Reconstruction
学科领域	数理科学和化学
WOS标题词	Science & Technology ; Physical Sciences
DOI	10.1016/j.optlaseng.2007.05.006
收录类别	SCI ; EI
关键词[WOS]	CAMERA CALIBRATION ; ACCURACY EVALUATION ; SYSTEM
语种	英语
WOS研究方向	Optics
WOS类目	Optics
WOS记录号	WOS:000250074300007
引用统计	被引频次：46[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.opt.ac.cn/handle/181661/6508
专题	瞬态光学研究室
作者单位	1.Sichuan Univ, Inst Nano Opt, Dept Phys, Chengdu 610064, Peoples R China 2.Chinese Acad Sci, Xian Inst Opt & Precis Mech, Xian 710119, Peoples R China
推荐引用方式 GB/T 7714	Li, Jianfeng,Guo, Yongkang,Zhu, Jianhua,et al. Large depth-of-view portable three-dimensional laser scanner and its segmental calibration for robot vision[J]. OPTICS AND LASERS IN ENGINEERING,2007,45(11):1077-1087.
APA	Li, Jianfeng.,Guo, Yongkang.,Zhu, Jianhua.,Lin, Xiangdi.,Xin, Yao.,...&Tang, Qing.(2007).Large depth-of-view portable three-dimensional laser scanner and its segmental calibration for robot vision.OPTICS AND LASERS IN ENGINEERING,45(11),1077-1087.
MLA	Li, Jianfeng,et al."Large depth-of-view portable three-dimensional laser scanner and its segmental calibration for robot vision".OPTICS AND LASERS IN ENGINEERING 45.11(2007):1077-1087.

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