Method for calibrating a camera-laser-unit in respect to a calibration-object
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Abstract
The invention refers to a method for calibrating a camera-laser-unit (1) with respect to at least one calibration-object (12) disposed at a given position and orientation in a three-dimensional space (13). The camera-laser-unit (1) comprises a laser (4) and a camera (3), wherein the laser (4) and the camera (3) are disposed at a given distance with respect to each other. An optical axis (9) of the laser (4) and an optical axis (8) of the camera (3) subtend a given angle (α). The camera-laser-unit (1) is adapted to record the location, form and/or dimensions of a measurement-object (5). The method has the advantage that the same calibration-object (12) can be used for the calibration of the camera (3) and of the laser (4), wherein the camera (3) is first calibrated using a Tsai-algorithm and then the laser (4) is calibrated with respect to, and by making use of, the already calibrated camera (3).
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Citations
22 Claims
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1-11. -11. (canceled)
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12. A method for calibrating a camera-laser-unit with respect to at least one calibration-object disposed at a given position and orientation in three-dimensional space, the camera-laser-unit having at least one laser and at least one camera, wherein the laser and the camera are disposed at a given distance with respect to one another, and an optical axis of the laser and an optical axis of the camera subtend a given angle (α
- ), the camera-laser-unit being adapted to record a location, shape and/or dimensions of a measurement-object, the method comprising the steps of;
a) selecting a calibration-object having at least two planes disposed at a given angle (β
) with respect to each other, each plane having a given, non-coplanar calibration-pattern;
b) disposing the calibration-object at a given position and orientation in three-dimensional space with respect to the camera-laser-unit, wherein an orientation of the calibration-object is such that light emitted by the laser is visible to the camera on the at least two planes of the calibration-object;
c) calibrating the camera with respect to the calibration-object using a Tsai algorithm;
d) activating the laser to emit light visible on the at least two planes of the calibration-object;
e) recording the light on the two planes with the camera;
f) determining the laser-properties from the light recorded by the camera; and
g) calibrating the laser according to the determined laser-properties. - View Dependent Claims (13, 14, 15, 16, 17, 18)
- ), the camera-laser-unit being adapted to record a location, shape and/or dimensions of a measurement-object, the method comprising the steps of;
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19. A calibration-object for calibrating a camera-laser-unit the calibration object being disposed at a given position and orientation in three-dimensional space, the camera-laser-unit having at least one laser and at least one camera, the laser and the camera being disposed at a given distance, wherein an optical axis of the laser and an optical axis of the camera subtend a given angle (α
- ) and the camera-laser-unit is structured to record a location, shape and/or dimensions of a measurement-object, the calibration object comprising;
two planes disposed at a given angle with respect to each other, each plane having a non-coplanar, calibration-pattern with an array of features, wherein the calibration-object is structured and dimensioned for calibration of the camera as well as for calibration of the laser. - View Dependent Claims (20, 21, 22)
- ) and the camera-laser-unit is structured to record a location, shape and/or dimensions of a measurement-object, the calibration object comprising;
Specification