On the Measurement of Laser Lines in 3D Space with Uncertainty Estimation.

Laser-based systems, essential in diverse applications, demand accurate geometric calibration to ensure precise performance. The calibration process of the system requires establishing a reliable relationship between input parameters and the corresponding 3D description of the outgoing laser beams. The quality of the calibration depends on the quality of the dataset of measured laser lines. To address this challenge, we present a stochastic method for measuring the coordinates of these lines, considering both the camera calibration uncertainties and measurement noise inherent in laser dot detection on a detection board. Our approach to composing an accurate dataset of lines utilises a standard webcam and a checkerboard, avoiding the need for specialised hardware. By modelling the uncertainties involved, we provide a probabilistic description of the fitted laser line, enabling quality assessment of the measurement and integration into subsequent algorithms. We also offer insights into the optimal number of board positions and the number of repeated laser dot measurements, which are both the main time-consuming factors in practice. In summary, our proposed method represents a significant advancement in the field of laser-based system calibration, offering a robust and efficient solution.