Automatic recalibration of an active structured light vision system

A structured light vision system using pattern projection is useful for robust reconstruction of three-dimensional objects. One of the major tasks in using such a system is the calibration of the sensing system. This paper presents a new method by which a two-degree-of-freedom structured light system can be automatically recalibrated, if and when the relative pose between the camera and the projector is changed. A distinct advantage of this method is that neither an accurately designed calibration device nor the prior knowledge of the motion of the camera or the scene is required. Several important cues for self-recalibration are explored. The sensitivity analysis shows that high accuracy in-depth value can be achieved with this calibration method. Some experimental results are presented to demonstrate the calibration technique.

[1]  Sing Bing Kang,et al.  Catadioptric self-calibration , 2000, Proceedings IEEE Conference on Computer Vision and Pattern Recognition. CVPR 2000 (Cat. No.PR00662).

[2]  A. McIvor.  Nonlinear calibration of a laser stripe profiler , 2002 .

[3]  Pietro Perona,et al.  3D photography on your desk , 1998, Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271).

[4]  Mohan M. Trivedi,et al.  3-D Computer Vision Using Structured Light: Design, Calibration, and Implementation Issues , 1996, Adv. Comput..

[5]  Patrick Hébert.  A self-referenced hand-held range sensor , 2001, Proceedings Third International Conference on 3-D Digital Imaging and Modeling.

[6]  J. Batista,et al.  Camera recalibration with hand-eye robotic system , 1991, Proceedings IECON '91: 1991 International Conference on Industrial Electronics, Control and Instrumentation.

[7]  David Fofi,et al.  Uncalibrated vision based on structured light , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[8]  Lior Wolf,et al.  Omni-Rig: Linear Self-Recalibration of a Rig with Varying Internal and External Parameters , 2001, ICCV.

[9]  Gerd Hirzinger,et al.  Active self-calibration of robotic eyes and hand-eye relationships with model identification , 1998, IEEE Trans. Robotics Autom..

[10]  Giovanna Sansoni,et al.  Calibration and performance evaluation of a 3-D imaging sensor based on the projection of structured light , 2000, IEEE Trans. Instrum. Meas..

[11]  O. Mitchell,et al.  Dynamic camera calibration , 1995, Proceedings of International Symposium on Computer Vision - ISCV.

[12]  Songde Ma,et al.  A self-calibration technique for active vision systems , 1996, IEEE Trans. Robotics Autom..

[13]  Shengyong Chen,et al.  Self recalibration of a structured light vision system from a single view , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[14]  Joaquim Salvi,et al.  Recent progress in coded structured light as a technique to solve the correspondence problem: a survey , 1998, Pattern Recognit..

[15]  Radu Horaud,et al.  Robot Hand-Eye Calibration Using Structure-from-Motion , 2001, Int. J. Robotics Res..

[16]  Ki-Sang Hong,et al.  Theory and practice on the self-calibration of a rotating and zooming camera from two views , 2001 .

[17]  Soon Ki Jung,et al.  Calibration-free approach to 3D reconstruction using light stripe projections on a cube frame , 2001, Proceedings Third International Conference on 3-D Digital Imaging and Modeling.

[18]  Du Q. Huynh.  Calibration of a structured light system: a projective approach , 1997, Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[19]  Olli Jokinen.  Self-calibration of a light striping system by matching multiple 3-D profile maps , 1999, Second International Conference on 3-D Digital Imaging and Modeling (Cat. No.PR00062).

[20]  Mengxiang Li,et al.  Kinematic calibration of an active head-eye system , 1998, IEEE Trans. Robotics Autom..