Omnidirectional field of view structured light calibration method for catadioptric vision system

There have been improvements to structured light-based catadioptric vision systems (SLCV) to assist with robot navigation and reduce computation time. However, structured-light calibration does not satisfy this assumption. Motivated by this problem, this paper proposes a new approach for estimating the position of the structured lights of an SLCV system. Structured light points projected by lasers are reflected into the image plane through a conic mirror in order to view an omnidirectional image containing multiple structured light points. Efficient calibration of the laser location is possible based on the 2D information of the laser points, subject to the camera parameters and the mirror position. The performance of this method is evaluated experimentally using simulated and real data, and demonstrates that the proposed method is more robust and provides a higher measurement accuracy with a lower number of images, thus verifying the method's feasibility. (C) 2019 Elsevier Ltd. All rights reserved.