A joint calibration method for monocular speckle structured light system

We propose a novel and flexible method for calibrating monocular speckle structured light system (MSSLS). The proposed method uses only camera intrinsic parameters, projector center coordinate, and reference plane equation as the calibration parameters, and can be easily implemented using a circle grid calibration board and an unmarked planar target arranged with arbitrary distance and tilt angle. A joint reprojection error function is constructed to obtain globally optimal calibration parameters. A method for correcting the perspective deformation and lens distortion of the reference speckle image is also proposed, facilitating the application of stereo matching algorithms for disparity calculation. Based on consumer-grade MSSLS, the effectiveness and accuracy of the proposed method are verified by experiments.