Dynamic calibration of the relative pose and error analysis in a structured light system

We investigate the problem of dynamic calibration for our structured light system. First, a method is presented to estimate the rotation matrix and translation vector between the camera and the projector using plane-based homography. Then an approach is introduced to analyze theoretically the error sensitivity in the estimated pose parameters with respect to noise in the projection points. This algorithm is simple and easy to implement. Finally, some numerical simulations and real data experiments are carried out to validate our method.