Large depth-of-view portable 3D scanner for robot vision

By tilting the Charge Coupled Device (CCD) plane of portable 3D acquisition system according to the Scheimpflug condition, the depth of view is successfully achieved from 30mm to over 100mm. The new object-image equations of tilted camera system are derived theoretically. By dividing the whole work range into two parts and calibrating respectively, the measurement accuracy of the large depth-of-view system has been effectively improved. In the process of 3D reconstruction, different calibration parameters are used to transform the 2-D coordinates to 3-D coordinates according to the different position of the image in whole CCD plane, and the measurement accuracy of 0.06mm is obtained experimentally.