{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,3]],"date-time":"2026-03-03T22:06:28Z","timestamp":1772575588428,"version":"3.50.1"},"reference-count":38,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2017,1,15]],"date-time":"2017-01-15T00:00:00Z","timestamp":1484438400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"the National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51121063"],"award-info":[{"award-number":["51121063"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"the National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51575354"],"award-info":[{"award-number":["51575354"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"the National Key Technology Research and Development of the Ministry of Science and Technology of China","award":["973 Program 2014CB046604"],"award-info":[{"award-number":["973 Program 2014CB046604"]}]},{"name":"the Shanghai Municipal Science and Technology project","award":["15111107902"],"award-info":[{"award-number":["15111107902"]}]},{"name":"the Shanghai Municipal Science and Technology project","award":["16111106102"],"award-info":[{"award-number":["16111106102"]}]},{"name":"the Shanghai Municipal Science and Technology project","award":["15111102203"],"award-info":[{"award-number":["15111102203"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>A laser stripe sensor has limited application when a point cloud of geometric samples on the surface of the object needs to be collected, so a galvanometric laser scanner is designed by using a one-mirror galvanometer element as its mechanical device to drive the laser stripe to sweep along the object. A novel mathematical model is derived for the proposed galvanometer laser scanner without any position assumptions and then a model-driven calibration procedure is proposed. Compared with available model-driven approaches, the influence of machining and assembly errors is considered in the proposed model. Meanwhile, a plane-constraint-based approach is proposed to extract a large number of calibration points effectively and accurately to calibrate the galvanometric laser scanner. Repeatability and accuracy of the galvanometric laser scanner are evaluated on the automobile production line to verify the efficiency and accuracy of the proposed calibration method. Experimental results show that the proposed calibration approach yields similar measurement performance compared with a look-up table calibration method.<\/jats:p>","DOI":"10.3390\/s17010164","type":"journal-article","created":{"date-parts":[[2017,1,16]],"date-time":"2017-01-16T09:44:02Z","timestamp":1484559842000},"page":"164","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":49,"title":["Modeling and Calibration of a Novel One-Mirror Galvanometric Laser Scanner"],"prefix":"10.3390","volume":"17","author":[{"given":"Chengyi","family":"Yu","sequence":"first","affiliation":[{"name":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai 200240, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaobo","family":"Chen","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai 200240, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juntong","family":"Xi","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai 200240, China"},{"name":"Shanghai Key Laboratory of Advanced Manufacturing Environment, Shanghai 200030, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2017,1,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Zhang, L., Wu, C.Y., and Zou, Y.Y. (2009, January 25\u201326). An on-line visual seam tracking sensor system during laser beam welding. Proceedings of the International Conference on Information Technology and Computer Science, ITCS 2009, Kiev, Ukraine.","DOI":"10.1109\/ITCS.2009.211"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"506","DOI":"10.3390\/s110100506","article-title":"A laser-based vision system for weld quality inspection","volume":"11","author":"Huang","year":"2011","journal-title":"Sensors"},{"key":"ref_3","first-page":"740","article-title":"A new robotic 3D inspection system of automotive screw hole","volume":"6","author":"Baeg","year":"2008","journal-title":"Int. J. Control Autom. Syst."},{"key":"ref_4","unstructured":"Gan, Z., and Tang, Q. (2011). Visual Sensing and Its Applications: Integration of Laser Sensors to Industrial Robots, Springer."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1077","DOI":"10.1016\/j.optlaseng.2007.05.006","article-title":"Large depth-of-view portable three-dimensional laser scanner and its segmental calibration for robot vision","volume":"45","author":"Li","year":"2007","journal-title":"Opt. Lasers Eng."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"017202","DOI":"10.1117\/1.2829766","article-title":"Calibration of a portable laser 3-D scanner used by a robot and its use in measurement","volume":"47","author":"Li","year":"2008","journal-title":"Opt. Eng."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"324","DOI":"10.1016\/j.ijleo.2010.02.014","article-title":"Calibration of a multiple axes 3-D laser scanning system consisting of robot, portable laser scanner and turntable","volume":"122","author":"Li","year":"2011","journal-title":"Optik"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"9","DOI":"10.1016\/j.optlaseng.2014.01.001","article-title":"Simultaneous calibration of the intrinsic and extrinsic parameters of structured-light sensors","volume":"58","author":"Xie","year":"2014","journal-title":"Opt. Lasers Eng."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"293","DOI":"10.1111\/j.1477-9730.2011.00646.x","article-title":"Development of a new laser triangulation system based on an optical frame of reference","volume":"26","author":"Abzal","year":"2011","journal-title":"Photogramm. Record"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1638","DOI":"10.1364\/AO.51.001638","article-title":"Building a 3D scanner system based on monocular vision","volume":"51","author":"Zhang","year":"2012","journal-title":"Appl. Opt."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"1118","DOI":"10.1016\/j.cviu.2009.05.006","article-title":"Laser range scanner based on self-calibration techniques using coplanarities and metric constraints","volume":"113","author":"Furukawa","year":"2009","journal-title":"Comput. Vis. Image Underst."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"231","DOI":"10.1016\/j.dsp.2013.08.006","article-title":"Calibration of double stripe 3D laser scanner systems using planarity and orthogonality constraints","volume":"24","author":"Ozan","year":"2014","journal-title":"Digit. Signal Proc."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"114204","DOI":"10.1117\/1.OE.51.11.114204","article-title":"Calibration technology in application of robot-laser scanning system","volume":"51","author":"Ren","year":"2012","journal-title":"Opt. Eng."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1016\/j.measurement.2014.04.009","article-title":"Development and calibration of an integrated 3D scanning system for high-accuracy large-scale metrology","volume":"54","author":"Yin","year":"2014","journal-title":"Measurement"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Li, L., and Xi, J. (2013). Free and Global Pose Calibration of a Rotating Laser Monocular Vision Sensor for Robotic 3D Measurement System. Proc. SPIE, 8769.","DOI":"10.1117\/12.2018214"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"701","DOI":"10.1016\/j.ijleo.2015.02.007","article-title":"A new three-dimensional laser scanner design and its performance analysis","volume":"126","author":"Xiao","year":"2015","journal-title":"Optik Int. J. Light Electron Opt."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"20","DOI":"10.1016\/j.optlaseng.2015.01.008","article-title":"Calibration method for line-structured light vision sensor based on a single ball target","volume":"69","author":"Liu","year":"2015","journal-title":"Opt. Lasers Eng."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"29896","DOI":"10.1364\/OE.23.029896","article-title":"On-site calibration of line-structured light vision sensor in complex light environments","volume":"23","author":"Liu","year":"2015","journal-title":"Opt. Express"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1023\/A:1008117315311","article-title":"Calibrating a structured light stripe system: A novel approach","volume":"33","author":"Huynh","year":"1999","journal-title":"Int. J. Comput. Vis."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"2956","DOI":"10.1117\/1.1606683","article-title":"Calibration approach for structured-light-stripe vision sensor based on the invariance of double cross-ratio","volume":"42","author":"Wei","year":"2003","journal-title":"Opt. Eng."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"1056","DOI":"10.1016\/j.optlaseng.2004.06.015","article-title":"Constructing feature points for calibrating a structured light vision sensor by viewing a plane from unknown orientations","volume":"43","author":"Zhou","year":"2005","journal-title":"Opt. Lasers Eng."},{"key":"ref_22","unstructured":"Manakov, A., Seidel, H.P., and Ihrke, I. (2011, January 4\u20136). A mathematical model and calibration procedure for galvanometric laser scanning systems. Proceedings of the 16th Annual Workshop on Vision, Modeling, and Visualization, Berlin, Germany."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"082701","DOI":"10.1118\/1.4890093","article-title":"Accuracy analysis for triangulation and tracking based on time-multiplexed structured light","volume":"41","author":"Wagner","year":"2014","journal-title":"Med. Phys."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"5709","DOI":"10.1109\/JSEN.2015.2447835","article-title":"Data-driven learning for calibrating galvanometric laser scanners","volume":"15","author":"Wissel","year":"2015","journal-title":"IEEE Sens. J."},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Chi, S., Xie, Z., and Chen, W. (2016). A laser line auto-scanning system for underwater 3D reconstruction. Sensors, 16.","DOI":"10.3390\/s16091534"},{"key":"ref_26","unstructured":"Perceptron Tricam. Available online: http:\/\/perceptron.com\/products\/perceptron-sensor-technology\/."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"323","DOI":"10.1109\/JRA.1987.1087109","article-title":"A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf tv cameras and lenses","volume":"3","author":"Tsai","year":"1987","journal-title":"Robot. Autom. IEEE J."},{"key":"ref_28","unstructured":"Heikkila, J., and Silven, O. (1997, January 17\u201319). A four-step camera calibration procedure with implicit image correction. Proceedings of the 1997 IEEE Computer Society Conference on Computer Vision & Pattern Recognition, San Juan, Puerto Rico."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"1330","DOI":"10.1109\/34.888718","article-title":"A flexible new technique for camera calibration","volume":"22","author":"Zhang","year":"2000","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_30","unstructured":"Forest Collado, J. (2004). New Methods for Triangulation-Based Shape Acquisition Using Laser Scanners, Universitat de Girona."},{"key":"ref_31","unstructured":"Haug, K., and Pritschow, G. (September, January 31). Robust laser-stripe sensor for automated weld-seam-tracking in the shipbuilding industry. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society, IECON\u201998, Aachen, Germany."},{"key":"ref_32","unstructured":"Murray, R.M., Li, Z., and Sastry, S.S. (1994). A Mathematical Introduction to Robotic Manipulation, CRC Press."},{"key":"ref_33","unstructured":"Mor\u00e9, J.J. (1978). Numerical Analysis, Springer."},{"key":"ref_34","first-page":"55","article-title":"An investigation of the robustness of the nonlinear least-squares sphere fitting method to small segment angle surfaces","volume":"32","author":"Sun","year":"2008","journal-title":"Precis. Eng. J. Int. Soc. Precis. Eng. Nanotechnol."},{"key":"ref_35","doi-asserted-by":"crossref","unstructured":"Chernov, N. (2010). Circular and Linear Regression: Fitting Circles and Lines by Least Squares, CRC Press.","DOI":"10.1201\/EBK1439835906"},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1016\/S0734-189X(88)80033-1","article-title":"A survey of the hough transform","volume":"44","author":"Illingworth","year":"1988","journal-title":"Comput. Vis. Graph. Image Proc."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"479","DOI":"10.1016\/j.rcim.2010.06.030","article-title":"A method for the calibration of a 3-D laser scanner","volume":"27","author":"Niola","year":"2011","journal-title":"Robot. Comput. Integr. Manuf."},{"key":"ref_38","doi-asserted-by":"crossref","unstructured":"Nakatani, T., Li, S., Ura, T., Bodenmann, A., and Sakamaki, T. (2011, January 5\u20138). 3D visual modeling of hydrothermal chimneys using a rotary laser scanning system. Proceedings of the 2011 IEEE Symposium on Underwater Technology (UT) and 2011 Workshop on Scientific Use of Submarine Cables and Related Technologies (SSC), Tokyo, Japan.","DOI":"10.1109\/UT.2011.5774140"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/1\/164\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T18:26:16Z","timestamp":1760207176000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/1\/164"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,1,15]]},"references-count":38,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2017,1]]}},"alternative-id":["s17010164"],"URL":"https:\/\/doi.org\/10.3390\/s17010164","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,1,15]]}}}