No abstract

No abstract

No abstract

No abstract

This paper presents a calibration procedure adapted to a range camera intended for space applications. The range camera, which is based upon an auto-synchronized triangulation scheme, can measure objects from about 0.5 m to 100 m. The eld of view is 30 30 . Objects situated at distances beyond 10 m can be measured with the help of cooperative targets. Such a large volume of measurement presents signicant c hallenges to a precise calibration. A two-step methodology is proposed. In the rst step, the close-range volume (from 0.5 m to 1.5 m) is calibrated using an array of targets positioned at known locations in the eld of view of the range camera. A large number of targets are evenly spaced in that eld of view because this is the region of highest precision. In the second step, several targets are positioned at distances greater than 1.5 m with the help of an accurate theodolite and electronic distance measuring device. This second step will not be discussed fully here. The internal and external parameters of a model of the range camera are extracted with an iterative nonlinear simultaneous least-squares adjustment method. Experimental results obtained for a close-range calibration suggest a precision along the , and axes of 200 m, 200 m, and 250 m, respectively, and a bias of less than 100 m in all directions.