The invention discloses a method and a device for calibrating a light curved surface of a line
structured light vision sensor with self-adaptive curvature, and relates to the technical field of line
structured light sensors, and the method comprises the steps: collecting target images,
laser stripe images and temperature readings of a plurality of positions through a camera, a
laser and a temperature sensor; then calculating
laser optical center coordinates through a geometric
projection method; performing
triangulation on the laser stripe
point cloud by using a camera internal reference matrix obtained by Zhang's calibration, and calculating curvature distribution of the laser stripe
point cloud in combination with a mixed curvature model; generating a curvature gradient
weighting coefficient according to the curvature gradient modulus length, and iteratively solving an optimal
pose and curvature parameter through a closed-
loop optimization unit; and finally, thermal drift compensation optimization is triggered according to the real-time temperature, an optimized light curved
surface equation is corrected and output, and accurate calibration of the linear
structure light sensor is realized. Through
hybrid model compensation, closed-
loop optimization and thermal compensation output,
active compensation of inherent
optical aberration of the laser in the calibration process is realized, and an accurate and efficient calibration solution is provided.