The invention discloses a method of 3D contour measurement of a workpiece on a
conveyor belt based on line
laser scanning. The method comprises the following steps of obtaining camera internal and external parameters through camera calibration, carrying out filtering and
laser light strip center position initial extraction through an image preprocessing step, carrying out sub-pixel precision refinement on the center coordinates of a light bar, obtaining a light
plane equation through the
laser light plane calibration and finally carrying out reconstruction and measurement of the three-dimensional contour information of a workpiece to be measured. The workpiece 3D contour measurement brought forward by the invention has the following advantages: a high
measurement precision which means thethree-dimensional contour information of the workpiece to be measured can be accurately obtained through the
laser light bar extraction with sub-pixel precision and 3D reconstruction; a
fast measurement speed which means real-time measurement of 3D contour information of the workpiece to be tested can be realized to improve the efficiency of industrial production site operations; and low hardwarecosts which is realized in a hardware implementation mode in which laser is combined with a
monocular camera. Accordingly, the technical method of the application has advantages such as being in a non-
contact mode, high in
measurement precision, fast in speed and low in cost, and can be applied to an industrial
automation production process to realize accurate measurement of the 3D contour information of the workpiece on the
conveyor belt.