A sensory system consisting of a camera and several laser beams is described. It is designed for estimating the parameters of a planar surface with respect to the camera. Estimation is possible when the beam positions and directions are known, as well as the image of the beam spots on a planar surface. The system is readily applicable in an industrial environment for automation, if it is attached to a robot arm and is connected to a computer. >
['Jaekyu Ha', 'Robert M. Haralick']
Estimation of the position and orientation of a planar surface using multiple beams