author = {Tom Botterill and Steven Mills and Richard Green},
title = {Design and calibration of a hybrid computer vision and structured light 3D imaging system},
booktitle = {In Proceedings of the International Conference on Automation, Robotics, and Applications (ICARA)},
year = {2011},
abstract={This paper describes a structured light system for
generating a dense 3D reconstruction of crops viewed by a robot,
as the robot moves. A line laser is used to project a plane of
light into the image, which is viewed by a colour camera. The
laser line is localised with subpixel accuracy despite variations in
colour and texture of the surface being imaged, and challenging
lighting conditions. A dense depth map with errors from laser
line localisation of just 0.15mm is constructed.
A simple calibration procedure is described, where a large
number of constraints are automatically extracted from images
showing where the laser line crosses a checkerboard pattern.
Errors in calibration are estimated at 2.3mm.}

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