Review of calibration method for structured light measurement

LIU Shuntao; LUO Huafen; CHEN Xuemei; XU Jing

doi:10.7510/jgjs.issn.1001-3806.2015.02.023

Volume 39 Issue 2

Dec. 2014

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Citation:

Review of calibration method for structured light measurement

1.
Department of Manufacturing Engineering, Chengdu Aircraft Industrial (Group) Co.Ltd., Chengdu 610092, China;
2.
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China

Received Date: 2014-03-28
Accepted Date: 2014-08-14

Abstract

Structured light measurement is widely used in various areas due to non-contact, high speed, high measurement accuracy and low cost. The measurement accuracy of structured light measurement system depends on the calibration accuracy. The existing calibration methods were reviewed including the photogrammetry based on matrix transformation, geometry-based triangulation, and polynomial method. Photogrammetry can be further divided into inverse camera, pseudo-camera, and light-stripe plane. All the calibration methods were compared in the view of error propagation, dependence on projector calibration, precise auxiliary calibration gauge, and operation complexity. It is pointed out that the trend of calibration method is from laboratory to factory techniques, which require simple calibration device, convenient calibration process, fast calibration and high calibration precision.
- measurement and metrology,
- structured light,
- calibration,
- error

References

[1]	WANG L, BO M, GAO J, et al. Fast 3-D surface information acquisition based on smart camera. Laser Technology, 2006, 30(6): 657-660(in Chinese).
[2]	GAO Sh Y, YANG Y Q, YANG K Zh. Defect detection of laser welding seamof unequal-thickness blank baed on structured light vision.Laser Technology, 2011, 35(4): 440-443(in Chinese).
[3]	ZHANG Q C, SU X Y, ZOU X P. Calibration of 3-D measurement system using multi-sensor with line structured-illuminated laser.Laser Technology, 2005, 29(3): 225-232(in Chinese).
[4]	XIAO Y Sh, SU X Y, ZHANG Q C, et al. 3-D surface shape restoration for the breaking surface of dynamic process.Laser Technology, 2006, 30(3): 258-261(in Chinese).
[5]	CAO S P, WANG W F, XUE X Ch. Dynamic 3-D shape measurement based on de-interlaced images by Fourier transform.Laser Technology,2013, 37(6):736-741(in Chinese).
[6]	CHEN Y J, ZUO W M, WANG K Q, et al. Survey on structured light pattern codification methods.Journal of Chinese Computer Systems, 2010,31(9): 1856-1863(in Chinese).
[7]	SALVI J, FERNANDEZ S, PRIBANIC T, et al. A state of the art in structured light patterns for surface profilometry.Pattern Recognition, 2010, 43(8): 2666-2680.
[8]	PARK S C, CHANG M. Reverse engineering with a structured light system.Computers & Industrial Engineering, 2009, 57(4):1377-1384.
[9]	SHI Y S, LI Zh W, ZHONG K, et al. Structure light 3-D measurement technology and its application in mould & die design and manufacturing.Aeronautical Manufacturing Technology, 2009, 20: 48-50.
[10]	ZHANG J Q, ZHENG L. 3-D surface reconstruction of irregular industrial sheetmetal parts based on structure illumination.Geospatial Information, 2004, 2(6): 9-10(in Chinese).
[11]	HE Z R, CAI Y B. Experimental research of broken sheet metal surface reconstruction based on structure light.Research and Exploration in Laboratory, 2010, 31(10): 28-32(in Chinese).
[12]	WU X Q, FENG L F, HUI Y B, et al. Digital method of cultural relics based on measuring of structured light.Machinery Design & Manufacture, 2009(9):212-214(in Chinese).
[13]	XIONG Y Y, CHEN X B, SUN J, et al. Development of three dimensional facial measurement system based on structured light projection.Journal of Shanghai Jiaotong University(Medical Science Edition), 2009, 29(7): 837-841(in Chinese).
[14]	LI Z N, CHEN Zh X, WANG L M, et al. A measuring method of soil surface roughness using infrared structured light 3-D technology.Transactions of the Chinese Society of Agricultural Engineering, 2013,29(21):137-142(in Chinese).
[15]	LI Q,HE D G,LI X. A study on visual measurement method based on underwater 3-dimension structured light.Journal of Dalian Ocean University, 2012, 27(6): 583-586(in Chinese).
[16]	WU L J, LIU G H, LIU X Y, et al. Shiny surfaces measurement based on structured light system.Tool Engineering, 2011,45(3): 88-92(in Chinese).
[17]	ZHANG Q C, SU X Y, CAO Y P, et al. Three-dimensional shape measurement for rotating blade using stroboscopic structured illumination. Acta Optica Sinica, 2005,25(2): 207-211(in Chinese).
[18]	ZHANG S, HUANG P S. Novel method for structured light system calibration.Optical Engineering, 2006, 45(8): 083601.
[19]	LEGARDA-SAENZ R, BOTHE T, JUPTNER W P. Accurate procedure for the calibration of a structured light system. Optical Engineering, 2004, 43(2): 464-471.
[20]	LI Z, SHI Y, WANG C, et al. Accurate calibration method for a structured light system. Optical Engineering,2008, 47(5): 053604.
[21]	GAO W, WANG L, HUA Y. Flexible calibration of a portable structured light system through surface plane.Acta Automatica Sinica, 2009, 34 (11): 1358-1362(in Chinese).
[22]	GAO W, WANG L, HU Z. Flexible method for structured light system calibration.Optical Engineering, 2008, 47(8): 083602.
[23]	FALCAO G, HURTOS N, MASSICH J. Plane-based calibration of a projector-camera system.New York,USA:VIBOT Master,2008:9.
[24]	HUYNH D Q, OWENS R A, HARTMANN P. Calibrating a structured light stripe system: a novel approach.International Journal of Computer Vision, 1999, 33(1): 73-86.
[25]	ZHOU F, ZHANG G. Complete calibration of a structured light stripe vision sensor through planar target of unknown orientations.Image and Vision Computing, 2005, 23(1): 59-67.
[26]	YAMAUCHI K, SAITO H, SATO Y. Calibration of a structured light system by observing planar object from unknown viewpoints//Pattern Recognition, 2008 ICPR 19th International Conference.New York,USA:IEEE,2008:1-4.
[27]	WEI Z, CAO L, ZHANG G. A novel 1-D target-based calibration method with unknown orientation for structured light vision sensor. Optics & Laser Technology, 2010, 42(4): 570-574.
[28]	WEI Zh Q, LI J T, JI X P, et al. A calibration method based on multi-linear structured light.Procedia Engineering, 2010,7:345-351.
[29]	XIE Z X, ZHU W T, ZHANG Zh W, et al. A novel approach for the field calibration of line structured-light sensors.Measurement, 2010, 43(2): 190-196.
[30]	BOUGUET J Y, PERONA P. 3-D photography on your desk//Computer Vision, Sixth International Conference.New York,USA:IEEE,1998:43-50.
[31]	LUO H F, XU J, BINH N H, et al. A simple calibration procedure for structured light system.Optics and Lasers in Engineering, 2014, 57(1): 6-12.
[32]	SANSONI G, CAROCCI M, RODELLA R. Calibration and performance evaluation of a 3-D imaging sensor based on the projection of structured light.IEEE Transactions on Instrumentation and Measurement, 2000, 49(3): 628-636.
[33]	HU Q, HUANG P S, FU Q, et al. Calibration of a three-dimensional shape measurement system.Optical Engineering, 2003, 42(2): 487-493.
[34]	JIA X, ZHANG Z, CAO F, et al. Model and error analysis for coded structured light measurement system.Optical Engineering, 2010, 49(12): 123603.
[35]	XU J, XI N, ZHANG C, et al. Real-time 3-D shape inspection system of automotive parts based on structured light pattern.Optics & Laser Technology, 2011, 43(1):1-8.
[36]	LEANDRY I, BREQUE C, VALLE V. Calibration of a structured-light projection system: development to large dimension objects.Optics and Lasers in Engineering, 2012, 50 (3): 373-379.
[37]	LIU H, SU W H, REICHARD K, et al. Calibration-based phase-shifting projected fringe profilometry for accurate absolute 3D surface profile measurement.Optics Communications, 2003, 216(1/3): 65-80.
[38]	TAVARES P J, VAZ M A. Linear calibration procedure for the phase-to-height relationship in phase measurement profilometry. Optics Communications, 2007, 274(2): 307-314.
[39]	ANCHINI R, di LEO G, LI G R C, et al. A new calibration procedure for 3-D shape measurement system based on phase-shifting projected fringe profilometry.IEEE Transactions on Instrumentation and Measurement,2009, 58(5): 1291-1298.
[40]	VARGAS J, ANTONIO Q J, JOSE TERRON-LOPEZ M. Flexible calibration procedure for fringe projection profilometry.Optical Engineering, 2007, 46(2): 023601.
[41]	XU J, DOUET J, ZHAO J G, et al. A simple calibration method for structured light-based 3-D profile measurement.Optics & Laser Technology, 2013, 48(5): 187-193.

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通讯作者: 陈斌, bchen63@163.com

1.
沈阳化工大学材料科学与工程学院沈阳 110142

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Review of calibration method for structured light measurement

1. Department of Manufacturing Engineering, Chengdu Aircraft Industrial (Group) Co.Ltd., Chengdu 610092, China;

2. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China

Received Date: 2014-03-28

Accepted Date: 2014-08-14

Available Online: 2015-03-25

Abstract: Structured light measurement is widely used in various areas due to non-contact, high speed, high measurement accuracy and low cost. The measurement accuracy of structured light measurement system depends on the calibration accuracy. The existing calibration methods were reviewed including the photogrammetry based on matrix transformation, geometry-based triangulation, and polynomial method. Photogrammetry can be further divided into inverse camera, pseudo-camera, and light-stripe plane. All the calibration methods were compared in the view of error propagation, dependence on projector calibration, precise auxiliary calibration gauge, and operation complexity. It is pointed out that the trend of calibration method is from laboratory to factory techniques, which require simple calibration device, convenient calibration process, fast calibration and high calibration precision.

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Reference (41)

[1]	WANG L, BO M, GAO J, et al. Fast 3-D surface information acquisition based on smart camera. Laser Technology, 2006, 30(6): 657-660(in Chinese).
[2]	GAO Sh Y, YANG Y Q, YANG K Zh. Defect detection of laser welding seamof unequal-thickness blank baed on structured light vision.Laser Technology, 2011, 35(4): 440-443(in Chinese).
[3]	ZHANG Q C, SU X Y, ZOU X P. Calibration of 3-D measurement system using multi-sensor with line structured-illuminated laser.Laser Technology, 2005, 29(3): 225-232(in Chinese).
[4]	XIAO Y Sh, SU X Y, ZHANG Q C, et al. 3-D surface shape restoration for the breaking surface of dynamic process.Laser Technology, 2006, 30(3): 258-261(in Chinese).
[5]	CAO S P, WANG W F, XUE X Ch. Dynamic 3-D shape measurement based on de-interlaced images by Fourier transform.Laser Technology,2013, 37(6):736-741(in Chinese).
[6]	CHEN Y J, ZUO W M, WANG K Q, et al. Survey on structured light pattern codification methods.Journal of Chinese Computer Systems, 2010,31(9): 1856-1863(in Chinese).
[7]	SALVI J, FERNANDEZ S, PRIBANIC T, et al. A state of the art in structured light patterns for surface profilometry.Pattern Recognition, 2010, 43(8): 2666-2680.
[8]	PARK S C, CHANG M. Reverse engineering with a structured light system.Computers & Industrial Engineering, 2009, 57(4):1377-1384.
[9]	SHI Y S, LI Zh W, ZHONG K, et al. Structure light 3-D measurement technology and its application in mould & die design and manufacturing.Aeronautical Manufacturing Technology, 2009, 20: 48-50.
[10]	ZHANG J Q, ZHENG L. 3-D surface reconstruction of irregular industrial sheetmetal parts based on structure illumination.Geospatial Information, 2004, 2(6): 9-10(in Chinese).
[11]	HE Z R, CAI Y B. Experimental research of broken sheet metal surface reconstruction based on structure light.Research and Exploration in Laboratory, 2010, 31(10): 28-32(in Chinese).
[12]	WU X Q, FENG L F, HUI Y B, et al. Digital method of cultural relics based on measuring of structured light.Machinery Design & Manufacture, 2009(9):212-214(in Chinese).
[13]	XIONG Y Y, CHEN X B, SUN J, et al. Development of three dimensional facial measurement system based on structured light projection.Journal of Shanghai Jiaotong University(Medical Science Edition), 2009, 29(7): 837-841(in Chinese).
[14]	LI Z N, CHEN Zh X, WANG L M, et al. A measuring method of soil surface roughness using infrared structured light 3-D technology.Transactions of the Chinese Society of Agricultural Engineering, 2013,29(21):137-142(in Chinese).
[15]	LI Q,HE D G,LI X. A study on visual measurement method based on underwater 3-dimension structured light.Journal of Dalian Ocean University, 2012, 27(6): 583-586(in Chinese).
[16]	WU L J, LIU G H, LIU X Y, et al. Shiny surfaces measurement based on structured light system.Tool Engineering, 2011,45(3): 88-92(in Chinese).
[17]	ZHANG Q C, SU X Y, CAO Y P, et al. Three-dimensional shape measurement for rotating blade using stroboscopic structured illumination. Acta Optica Sinica, 2005,25(2): 207-211(in Chinese).
[18]	ZHANG S, HUANG P S. Novel method for structured light system calibration.Optical Engineering, 2006, 45(8): 083601.
[19]	LEGARDA-SAENZ R, BOTHE T, JUPTNER W P. Accurate procedure for the calibration of a structured light system. Optical Engineering, 2004, 43(2): 464-471.
[20]	LI Z, SHI Y, WANG C, et al. Accurate calibration method for a structured light system. Optical Engineering,2008, 47(5): 053604.
[21]	GAO W, WANG L, HUA Y. Flexible calibration of a portable structured light system through surface plane.Acta Automatica Sinica, 2009, 34 (11): 1358-1362(in Chinese).
[22]	GAO W, WANG L, HU Z. Flexible method for structured light system calibration.Optical Engineering, 2008, 47(8): 083602.
[23]	FALCAO G, HURTOS N, MASSICH J. Plane-based calibration of a projector-camera system.New York,USA:VIBOT Master,2008:9.
[24]	HUYNH D Q, OWENS R A, HARTMANN P. Calibrating a structured light stripe system: a novel approach.International Journal of Computer Vision, 1999, 33(1): 73-86.
[25]	ZHOU F, ZHANG G. Complete calibration of a structured light stripe vision sensor through planar target of unknown orientations.Image and Vision Computing, 2005, 23(1): 59-67.
[26]	YAMAUCHI K, SAITO H, SATO Y. Calibration of a structured light system by observing planar object from unknown viewpoints//Pattern Recognition, 2008 ICPR 19th International Conference.New York,USA:IEEE,2008:1-4.
[27]	WEI Z, CAO L, ZHANG G. A novel 1-D target-based calibration method with unknown orientation for structured light vision sensor. Optics & Laser Technology, 2010, 42(4): 570-574.
[28]	WEI Zh Q, LI J T, JI X P, et al. A calibration method based on multi-linear structured light.Procedia Engineering, 2010,7:345-351.
[29]	XIE Z X, ZHU W T, ZHANG Zh W, et al. A novel approach for the field calibration of line structured-light sensors.Measurement, 2010, 43(2): 190-196.
[30]	BOUGUET J Y, PERONA P. 3-D photography on your desk//Computer Vision, Sixth International Conference.New York,USA:IEEE,1998:43-50.
[31]	LUO H F, XU J, BINH N H, et al. A simple calibration procedure for structured light system.Optics and Lasers in Engineering, 2014, 57(1): 6-12.
[32]	SANSONI G, CAROCCI M, RODELLA R. Calibration and performance evaluation of a 3-D imaging sensor based on the projection of structured light.IEEE Transactions on Instrumentation and Measurement, 2000, 49(3): 628-636.
[33]	HU Q, HUANG P S, FU Q, et al. Calibration of a three-dimensional shape measurement system.Optical Engineering, 2003, 42(2): 487-493.
[34]	JIA X, ZHANG Z, CAO F, et al. Model and error analysis for coded structured light measurement system.Optical Engineering, 2010, 49(12): 123603.
[35]	XU J, XI N, ZHANG C, et al. Real-time 3-D shape inspection system of automotive parts based on structured light pattern.Optics & Laser Technology, 2011, 43(1):1-8.
[36]	LEANDRY I, BREQUE C, VALLE V. Calibration of a structured-light projection system: development to large dimension objects.Optics and Lasers in Engineering, 2012, 50 (3): 373-379.
[37]	LIU H, SU W H, REICHARD K, et al. Calibration-based phase-shifting projected fringe profilometry for accurate absolute 3D surface profile measurement.Optics Communications, 2003, 216(1/3): 65-80.
[38]	TAVARES P J, VAZ M A. Linear calibration procedure for the phase-to-height relationship in phase measurement profilometry. Optics Communications, 2007, 274(2): 307-314.
[39]	ANCHINI R, di LEO G, LI G R C, et al. A new calibration procedure for 3-D shape measurement system based on phase-shifting projected fringe profilometry.IEEE Transactions on Instrumentation and Measurement,2009, 58(5): 1291-1298.
[40]	VARGAS J, ANTONIO Q J, JOSE TERRON-LOPEZ M. Flexible calibration procedure for fringe projection profilometry.Optical Engineering, 2007, 46(2): 023601.
[41]	XU J, DOUET J, ZHAO J G, et al. A simple calibration method for structured light-based 3-D profile measurement.Optics & Laser Technology, 2013, 48(5): 187-193.

Review of calibration method for structured light measurement

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通讯作者: 陈斌, bchen63@163.com

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Review of calibration method for structured light measurement

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