Design and calibration of a three-dimensional localization system for automatic measurement of long and thin tube based on camera and laser displacement sensor

Abstract

An integrated system consisting of robot and laser scanner is considered as a promising alternative measurement device for three-dimensional tube which is long and thin. A key to achieving automatic measurement is to locate tube accurately and robustly, which is precondition for scanning path planning. Thus, a novel three-dimensional localization system consisting of camera and laser displacement senor is proposed. When fixed on robot, the camera can search tube quickly in large view and the laser displacement sensor obtains depth information of key points. Measurement principles are presented firstly, including four main steps: camera shooting, key points extraction, laser displacement sensor shooting, and coordinate calculation. Then, the location error influenced by parameters of camera model and laser displacement sensor is analyzed and illustrated by a specific camera and laser displacement sensor. Furthermore, a scan strategy is proposed for quite thin tube localization. Location error caused by perspective is also analyzed and a compensation method is proposed for decreasing the error. Additionally, a sensor transformation calibration method is presented for identifying the relationship between camera and laser displacement sensor, which is verified with high accuracy by calibration experiments. A contrast experiment of a cylinder bar localization shows that the maximum location error of the camera and laser displacement sensor is no more than 3.5 mm, which is only one-eighth of that of Kinect sensor. The mean and maximum location errors are within 2 mm and 3 mm when locating a car brake and fuel tube with about 1300 mm long, indicating high accuracy and good robustness of designed localization system.