Projected texture stereo

Author

Konolige, Kurt

Author_Institution

Willow Garage, Menlo Park, CA, USA

fYear

2010

fDate

3-7 May 2010

Firstpage

148

Lastpage

155

Abstract

Passive stereo vision is widely used as a range sensing technology in robots, but suffers from dropouts: areas of low texture where stereo matching fails. By supplementing a stereo system with a strong texture projector, dropouts can be eliminated or reduced. This paper develops a practical stereo projector system, first by finding good patterns to project in the ideal case, then by analyzing the effects of system blur and phase noise on these patterns, and finally by designing a compact projector that is capable of good performance out to 3m in indoor scenes. The system has been implemented and has excellent depth precision and resolution, especially in the range out to 1.5m.

Keywords

image matching; robot vision; stereo image processing; compact projector; depth precision; passive stereo vision; phase noise; projected texture stereo; range sensing technology; robots; stereo matching; system blur; texture projector; Cameras; Layout; Pattern analysis; Pattern matching; Robotics and automation; Simulated annealing; Stereo vision; Surface reconstruction; Surface texture; USA Councils;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Conference_Location

Anchorage, AK

ISSN

1050-4729

Print_ISBN

978-1-4244-5038-1

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2010.5509796

Filename

5509796