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. 2016 Dec 9;16(12):2097.
doi: 10.3390/s16122097.

An Accurate Non-Cooperative Method for Measuring Textureless Spherical Target Based on Calibrated Lasers

Fei Wang  1 , Hang Dong  2 , Yanan Chen  3 , Nanning Zheng  4
Affiliations

An Accurate Non-Cooperative Method for Measuring Textureless Spherical Target Based on Calibrated Lasers

Fei Wang et al. Sensors (Basel). .

Abstract

Strong demands for accurate non-cooperative target measurement have been arising recently for the tasks of assembling and capturing. Spherical objects are one of the most common targets in these applications. However, the performance of the traditional vision-based reconstruction method was limited for practical use when handling poorly-textured targets. In this paper, we propose a novel multi-sensor fusion system for measuring and reconstructing textureless non-cooperative spherical targets. Our system consists of four simple lasers and a visual camera. This paper presents a complete framework of estimating the geometric parameters of textureless spherical targets: (1) an approach to calibrate the extrinsic parameters between a camera and simple lasers; and (2) a method to reconstruct the 3D position of the laser spots on the target surface and achieve the refined results via an optimized scheme. The experiment results show that our proposed calibration method can obtain a fine calibration result, which is comparable to the state-of-the-art LRF-based methods, and our calibrated system can estimate the geometric parameters with high accuracy in real time.

Keywords: laser-camera system calibration; non-cooperative target; pose estimation; sensor fusion; textureless target.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
3D model of the measurement system.
Figure 2
Figure 2
Illustration of the proposed calibration method: (a) design of the proposed calibration method; (b) diagram of the calibration reference coordinate frames.
Figure 3
Figure 3
Illustration of the measurement method: (a) design of the measurement method; (b) diagram of the measurement reference coordinate frames.
Figure 4
Figure 4
Error distribution under noise levels in the range of [0.25, 3.0]: (a) angular error of direction; (b) position error.
Figure 5
Figure 5
Error distribution under different numbers of poses in the range of [2, 20]: (a) angular error of direction; (b) position error.
Figure 6
Figure 6
Simulation of the pose errors over a 500-mm distance with random noise levels of: (a) 0.5 pixels; and (b) one pixel.
Figure 7
Figure 7
Simulation of the pose errors with different pixels of the diameter: (a) result with 0.5 pixels of noise; (b) result with one pixel of noise.
Figure 8
Figure 8
Pose error using different numbers of reconstruction points: (a) angular error of direction; (b) position error.
Figure 9
Figure 9
The image of the target sphere (left) and detected laser spots and the center point (right).
See this image and copyright information in PMC

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