中文摘要：

提出了一种可适用于未知环境的线结构光三维视觉传感器现场标定的新方法。与基于交比不变性求解特征点坐标来标定激光平面的方法不同，该方法可直接基于激光交线图像实现快速标定。通过拍摄一个与线结构光相交并以不同姿态随机自由移动的平面靶标的图像（至少3幅），就可同时实现三维视觉传感器CCD和激光平面的快速标定。该方法不必求解标定点坐标，方便、快捷、简单，可实现自动化，标定精度高，标定方法鲁棒性强。实验结果证明了该方法的方便和有效性。

英文摘要：

This paper presents a new method for structured light vision sensor calibration. Compared with traditional cross-ratio invariance approach that solves three-dimensional coordinates of intersection points to calibrate the laser plane, the proposed approach directly uses laser intersection line image to calibrate the system. Through photographing the images of a randomly moving target plane intersected by the laser plane （at least 3 images）, the vision system calibration can be fulfilled easily. The method does not need to solve the intersection-point coordinates; it is convenient, simple, and has high accuracy and robustness. Experimental results show its convenience and effectiveness.