Three-dimensional shape reconstruction by active rangefinder

Author

Sato, Yukio ; Otsuki, Masaki

Author_Institution

Dept. of Electr. & Comput. Eng., Nagoya Inst. of Technol., Japan

fYear

1993

fDate

15-17 Jun 1993

Firstpage

142

Lastpage

147

Abstract

A new type of rangefinder is proposed, and a method for 3-D object shape reconstruction is described. The proposed rangefinder is compact and light and consists of a charge-coupled device camera, a galvano mirror, and a semiconductor laser. A slit-ray from the laser is scanned by the mirror and patterns of light are made by temporal switching of the laser. Range maps are obtained by the space encoded technique. A 512×256 range map is captured within 0.3 s. The rangefinder is installed at a tip of a robot manipulator, and takes range maps from various directions. Experimental results are described for range map integration and 3-D shape reconstruction

Keywords

CCD image sensors; computer vision; image reconstruction; laser ranging; manipulators; 0.3 s; 3-D object shape reconstruction; 512×256 range map; active rangefinder; charge-coupled device camera; galvano mirror; range maps; robot manipulator; semiconductor laser; slit-ray; temporal switching; Cameras; Charge coupled devices; Charge-coupled image sensors; Image coding; Image reconstruction; Layout; Manipulators; Mirrors; Orbital robotics; Robot vision systems; Semiconductor lasers; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Vision and Pattern Recognition, 1993. Proceedings CVPR '93., 1993 IEEE Computer Society Conference on

Conference_Location

New York, NY

ISSN

1063-6919

Print_ISBN

0-8186-3880-X

Type

conf

DOI

10.1109/CVPR.1993.340997

Filename

340997