A method to determine the extrinsic parameter of laser triangulation sensors, with restricted mobility

In many applications based on laser triangulation sensors it is necessary to know the extrinsic parameters of the sensor. The extrinsic parameters describe the exact sensor position in room space. Algorithms for such a calibration do exist, but depend on dynamic processes. For such a calibration one usually needs to record several sensor images of a calibration body in different orientations. But for some applications a dynamic process is not applicable due to restricted liberties in motion. Thus, we derived within this work a new method based on two steps. The first step is a pre-calibration, this step still is a dynamic calibration but doesn't need to be performed in the sensors final mounting position. After the sensor has been fixed in its final position, the extrinsic parameter of the sensor can be determined by just using a calibration plate, no motion is necessary.