CALIBRATION SYSTEM FOR CALIBRATING VISUAL COORDINATE SYSTEM AND DEPTH COORDINATE SYSTEM, CALIBRATION METHOD AND CALIBRATION DEVICE

The disclosure provides a calibration system, a calibration method, and a calibration device. The calibration method for obtaining a transformation of coordinate systems between a vision sensor and a depth sensor includes the following steps. (a) A first coordinate group of four endpoints of a calibration board in a world coordinate system is created. (b) An image of the calibration board is obtained by the vision sensor, and a second coordinate group of the four endpoints of the calibration board in a two-dimensional coordinate system is created. (c) A third coordinate group of the four endpoints of the calibration board in a three-dimensional coordinate system is created according to the first and second coordinate groups. (d) The third coordinate group is transformed to a fourth coordinate group corresponding to the depth sensor to obtain the transformation of the coordinate systems according to at least three target scanning spots.