Calibration of structured light stripe system using plane with slits

Structured light stripe systems are widely used in industrial applications for acquiring three-dimensional (3-D) information. Calibration is the first necessary step and traditional algorithms compute the transformation matrix from image to world. Therefore, 3-D information can be obtained with respect to the camera's coordinate system, and it cannot be transformed into the laser coordinate system. We propose a new calibration algorithm of a structured light system that can compute the relative pose of the laser coordinate system with respect to the camera coordinate system. We can convert 3-D information either to the laser coordinate system or to the camera coordinate system. The proposed algorithm uses two planes where one plane with multiple slits is set perpendicular to the other plane. We can easily compute the position and rotation of the laser coordinate system using proposed calibration structure. Also, we can solve the extrinsic calibration using just one shot of an image while conventional algorithms require more than two images under different poses. Experiments under various configurations show the feasibility of proposed algorithm.