Title :
Development of 3-D robot vision sensor
Author_Institution :
Dept. of Mech. Eng., Keio Univ., Yokohama, Japan
Abstract :
A three-dimensional robot vision sensor based on both active triangulation and a method using astigmatism is described. Range data obtained through active triangulation have comparatively high accuracy. However, range cannot be determined uniquely from a single-input image. On the other hand, range data obtained by the method using astigmatism are determined uniquely, but one cannot expect a high degree of accuracy. To improve the performance of the sensor, a novel method that fuses the range data obtained by these methods is proposed. Measurement results of the pilot system and verification of the performance of the system are presented
Keywords :
computer vision; computerised picture processing; image sensors; robots; 3D robot vision sensor; active triangulation; astigmatism; computer vision; picture processing; range data; Adaptive optics; Intelligent sensors; Optical arrays; Optical distortion; Optical sensors; Robot sensing systems; Robot vision systems; Sensor phenomena and characterization; Shape measurement; Vision defects;
Conference_Titel :
Industrial Electronics Society, 1990. IECON '90., 16th Annual Conference of IEEE
Conference_Location :
Pacific Grove, CA
Print_ISBN :
0-87942-600-4
DOI :
10.1109/IECON.1990.149218
