Title :
3D feature tracking using a dynamic structured light system
Author :
Adán, Antonio ; Molina, Fernando ; Vázquez, Andrés S. ; Morena, Luis
Author_Institution :
Departamento de Ingenieria Electrica, Electronica y Automatica, UCLM, Ciudad Real, Spain
Abstract :
In this paper we present a 3D tracking system that is able to identify several characteristic points on the surface of a moving scene. The system is considered as a preliminary step in the interaction of industrial robots with dynamic scenes. Through a new color structured light technique based on a disordered codeword pattern, 3D coordinates of the object surface are extracted and processed. This method recovers 3D information in such a way that the correspondence problem is easily and robustly solved. After establishing a set of feature points, an inter frame window search algorithm is carried out to solve the tracking problem. A controlled experimental setup has been built in our lab composed by a 2 DOF mobile platform, a light structured sensor and a manipulator robot. The experimentation has been performed on medium spatial resolution and for soft movement specifications giving promising results.
Keywords :
feature extraction; industrial robots; lighting; tracking; 2 DOF mobile platform; 3D feature tracking; 3D tracking system; disordered codeword pattern; dynamic structured light system; industrial robots; interframe window search; light structured sensor; manipulator robot; object surface 3D coordinates; soft movement specification; Color; Data mining; Layout; Lighting control; Manipulators; Mobile robots; Robot kinematics; Robot sensing systems; Robustness; Service robots;
Conference_Titel :
Computer and Robot Vision, 2005. Proceedings. The 2nd Canadian Conference on
Print_ISBN :
0-7695-2319-6