Determining the relative ubiety between the camera and the laser projector in a line-structured light vision sensor is a classical yet important task. Typical calibration methods often confront problems, such as difficulty of producing the target precisely and introduction of perspective projection errors. In this work, a new calibration method based on a concentric circle feature is introduced. The proposed method is based on geometrical properties and can reduce the perspective projection error. In our method, the vanishing line of the light plane is firstly deduced from the imaged concentric circles. Then the normal vector of the light plane is determined. Consequently, the complete expression can be confirmed from the principle of the intersecting planes. The proposed method is simple and robustness as the basic theory is geometrical properties. Accuracy evaluation experiment shows that the accuracy of the calibration method can reach 0.07 mm within the view field of about 200 × 200 mm. This accuracy is comparable to the commonly used calibration method with a checkerboard planar target, whereas our target is simple to produce.

中文翻译：

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基于同心圆特征的线结构光视觉传感器校准新方法

确定线结构光视觉传感器中的照相机和激光投影仪之间的相对普遍性是一项经典而重要的任务。典型的校准方法经常遇到问题，例如难以精确产生目标和引入透视投影误差。在这项工作中，介绍了一种基于同心圆特征的新校准方法。所提出的方法基于几何特性并且可以减少透视投影误差。在我们的方法中，首先从成像的同心圆推导出光平面的消失线。然后确定光平面的法线向量。因此，可以从相交平面的原理确认完整的表达。由于基本理论是几何性质，因此所提出的方法简单且稳健。精度评估实验表明，在大约200×200 mm的视场内，校准方法的精度可以达到0.07 mm。该精度可与通常使用的棋盘状平面靶标校准方法相媲美，而我们的靶标易于生产。