Title :
3D Vision System for Robot Interaction in Moving Scenes
Author :
Vazquez, Andres S. ; Adán, Antonio ; Molina, Fernando
Author_Institution :
Univ. of Castilla-La Mancha, Albacete
Abstract :
In this paper we present a structured light projection system based on the projection of a color coded hexagonal array that is able to obtain range images in moving conditions. Unordered codes are allowed in the color pattern which implies that the mean Hamming distance between contiguous codewords of the pattern increases. As a result, code loss circumstances can be efficiently handled and computational cost in the pattern-image code correspondence phase is highly reduced. This range vision system has been integrated in a robotic cell so a 6 DOF manipulator robot can interact on a set of selected points of the moving scene. The experimentation has been performed on medium resolution range images and for slow controlled movements giving promising results.
Keywords :
feature extraction; human computer interaction; image colour analysis; image resolution; manipulators; robot vision; 3D vision system; 6 DOF manipulator robot; color coded hexagonal array; computational cost; contiguous codewords; image code correspondence phase; mean Hamming distance; range images; robot interaction; structured light projection system; Colored noise; Computational efficiency; Computer vision; Hamming distance; Image resolution; Layout; Machine vision; Manipulators; Optical arrays; Robot vision systems; Computer vision; feature extraction; range images; robot interaction; structured light sensor;
Conference_Titel :
Intelligent Signal Processing, 2007. WISP 2007. IEEE International Symposium on
Conference_Location :
Alcala de Henares
Print_ISBN :
978-1-4244-0830-6
Electronic_ISBN :
978-1-4244-0830-6
DOI :
10.1109/WISP.2007.4447630
