中文摘要：

建立结构光视觉传感器通用数学模型，提出一种基于平面靶标的结构光视觉传感器结构参数标定新方法。在测量空间不同位置多次随意摆放平面靶标，结构光投射在靶标表面，摄像机拍摄靶标图像。利用靶标上特征点及对应的图像点求解靶标坐标系到摄像机坐标系的转换。根据靶标平面与图像平面之间的同射变换获得结构光标定点在靶标坐标系下的坐标，并统一到摄像机坐标系下，在此基础上拟合出结构光方程。该方法获得标定点效率高，能胜任点、线、曲面等任何模式结构光视觉传感器的现场标定。试验结果表明，该方法具有较高的标定精度。

英文摘要：

All-purpose mathematical model of structured-light vision sensor is established. A novel calibration method for estimating the structure parameters of structured-light vision sensor with planar target is proposed. The target is freely placed at various positions of the measurement space many times, and the vision sensor projects structured-light on the surface of the target. The camera of structured-light vision sensor takes images of the target. Coordinate transformations from target coordinate frame to camera coordinate frame are solved through the feature points on the target and corresponding image points. The coordinates of the calibration points on structured-ligh at target coordinate frames are obtained according to the homography transformation between target planes and image plane, and are unified at the camera coordinate frame, based on which the equation of the s tructured-light is fitted. The efficiency of acquiring calibration points by using the proposed method is high. It is competent for calibrating all types, including point, line, and curved surface, of structured-light vision sensor on the spot. The experimental results show that the calibration precision of the method is high.