Modelling and calibration of the laser beam-scanning triangulation measurement system

G.Y. Wang, Bing Zheng, Xin Li, Z. Houkes, P.P.L. Regtien

    Research output: Contribution to journalArticleAcademicpeer-review

    39 Citations (Scopus)


    We present an approach of modelling and calibration of an active laser beam-scanning triangulation measurement system. The system works with the pattern of two-dimensional beam-scanning illumination and one-dimensional slit-scanning detection with a photo-multiplier tube instead of a CCD camera. By modelling the system-fixed coordinate, we describe the formulation of 3D computation and propose a calibration method in terms of LSE using a planar fitting algorithm. As a sensor-dependent solution, the estimation is refined in the domain of sensing variables. Result of calibration of the real system and a brief analysis of systematic errors are given.
    Original languageEnglish
    Pages (from-to)267-277
    Number of pages11
    JournalRobotics and autonomous systems
    Issue number4
    Publication statusPublished - 2002


    • Planar fitting
    • Laser scanning
    • Calibration
    • Triangulation measurement
    • n/a OA procedure


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