The algorithm for evaluation of data for calibration of the triangulation laser scanner

The paper describes an algorithm that is part of the methodology for calibrating single point triangulation 2D scanners with tilting mirrors. This system is affected by the nonlinearity given by errors of triangulation rangefinder, optics and tilting mechanism. They are caused, for example, by eccentric placement of mirrors to the axis of tilting, mirror unevenness or deviation in the sensor location. Another type of error occurs when incorrect measuring of the tilt angle of mirrors and either incorrect definition of the function that describe the shape of the tilt cam, or errors caused by the dynamic forces during movement. Methodology is designed to analyze data from repeated measurements of the reference objects in different positions, statistically evaluate points, remove noise and count corrections for image obtained by a known shape of test object, even though the position of object is not precisely measured.