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A novel calibration method for a multi-line structured laser light vision sensor using a planar target is presented. The method can be summarized as first, the camera model is changed by projecting the point from the two-dimensional (2-D) image plane to the world coordinate system, wherein the intrinsic parameters of the camera are calibrated accurately in advance. Next, by means of a planar target with a cruciform pattern, multiple sets of three-dimensional (3-D) feature points are solved in the camera coordinate system. Last, a new method is proposed for solving the structured light planes in which a uniform objective function is determined and the priori position relation of the structured light planes is considered as a constraint. In this way the prior geometric relation of the planes can be accurately transplanted into the camera coordinate system. Experimental data demonstrate that the proposed method exhibits better accuracy and repeatability. [ABSTRACT FROM AUTHOR]