Acquisition of consistent range data using local calibration

Addresses two aspects of triangulation-based range sensors using structured laser light: calibration and measurement consistency. We present a direct calibration technique which does not require the modelling of any specific sensor component or phenomena, so is not limited in accuracy by the inability to model error sources. We also introduce some consistency tests based on two-camera geometry which make it possible to acquire satisfactory range images of highly reflective surfaces with holes. Experimental results indicating the validity of the methods are reported