Three-Dimensional TOF Robot Vision System

Stereo vision (SV) is widely used and is well known for many 3-D image applications. In this paper, a 3D time-of-flight system will be introduced, which is integrated into a robot vision system. The pros and cons of the system in comparison with SV are discussed, and the basic equations needed to acquire the range information are illustrated. Moreover, object segmentation algorithms working on the range data are presented. Experimental results show that the accuracy and repeatability of such a system is applicable for industrial applications.