METHOD FOR MUTUAL CALIBRATION OF A VIDEO CAMERA AND A FAN LASER ILLUMINATION APPARATUS Russian patent published in 2023 - IPC G06T7/80 G01S7/497 

FIELD: optics.

SUBSTANCE: invention relates to methods for calibrating optical apparatus. The technical result is achieved by forming an array of images of a planar test object from various angles and distances and determining the coordinates of points of the test object in the coordinate systems of the camera and the laser apparatus; measuring the spatial coordinates of the projections of illumination points on the plane of the test object in the coordinate system of the test object, calculating the distances between said points, building a system of non-linear equations that is redefined with respect to unknown distances, solving said system and determining the spatial coordinates of the projections of illumination points on the plane of the test object in the coordinate system of the illumination; finally, re-projecting the points with known spatial coordinates in the coordinate system of the illumination onto the image from the camera for each angle and adjusting the rotation matrix and the parallel transfer vector between the coordinate systems of the camera and the illumination.

EFFECT: possibility of determining the spatial coordinates of the projections of laser illumination points with a fan-like beam arrangement with an angular distance between adjacent beams in units of degrees with an absolute error not greater than units of millimetres.

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