Error Model of a Coded-Light Range Sensor

TL;DRAbstract

This paper describes the measurement principle, the mathematical model, the calibration procedure, and the error model of a range sensor based on the Coded-Light Approach. The sensor consists of a CCD camera and a stripe projector. 3-D measurements are realized by the intersection of camera rays with the planes generated by the stripe projection. Using projective geometry renders camera and projector model linear. A calibration procedure based on general least squares estimation is proposed. The estimation model consists of the analytic and stochastic model of the range sensor, which yields estimations of the model parameters as well as their accuracies. With introduction of unknown 3-D check points in the estimation model, the accuracy of the range measurements is obtained as the main result of this work. The confidence interval of the range measurements is represented as an error ellipsoid. It turned out that the longest axis of the error ellipsoid is almost parallel to the projector

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