Identifying the Laser Stripes via Ray Model for Multiline Structured Light Stereo Vision Sensors

In 3-D reconstruction based on multiline structured light stereo vision (MLSV) sensors, identifying the laser stripes and light planes from binocular images is a fundamental yet challenging problem. However, the existing methods are ineffective for images exhibiting large-area deformation, breakage, and disappearance of the laser stripes, which will result in the failure or inefficiency of 3-D reconstruction. This article solves this problem by identifying the laser stripes via ray model. We first calibrate the ray emitted by the laser based on ray model and build a pixel-ray lookup table (LUT). In the identification process, the LUT and epipolar line are employed to identify the potential matching points. Subsequently, the laser stripes and light planes are identified through the distance constraint (DC) between the 3-D points and the light planes. The efficacy of the proposed method is evaluated through a comparative experiment with the existing methods, and the average recognition rate reaches 99.5% through multiple experiments.