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Proceedings Paper

Theory and experiment of 3D sensing based on eye-hand camera
Author(s): Sukhan Lee; Sang Chul Ahn; Ashok Meyyappan; Paul S. Schenker
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Paper Abstract

A new method of extracting depth from blurring and magnification of objects or local scene has been presented. Assuming no active illumination, the images are taken at two camera positions of a small displacement, using a single standard camera with telocentric lens. Thus, the depth extraction method is simple in structure and efficient in computation. Fusing the two disparate sources of depth information, magnification and blurring, the proposed method provides more accurate and robust depth estimation. This paper describes the process of various experimentations performed to validate this concept and describes the present work that has been done in that field. The experimental result shows less than 1% error for an optimal depth range. The ultimate aim of this concept would be the construction of dense 3D maps of objects and real time continuous estimation of depth.

Paper Details

Date Published: 22 September 1997
PDF: 9 pages
Proc. SPIE 3209, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems, (22 September 1997); doi: 10.1117/12.287646
Show Author Affiliations
Sukhan Lee, Univ. of Southern California and Jet Propulsion Lab. (United States)
Sang Chul Ahn, Univ. of Southern California (United States)
Ashok Meyyappan, Univ. of Southern California (United States)
Paul S. Schenker, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 3209:
Sensor Fusion and Decentralized Control in Autonomous Robotic Systems
Paul S. Schenker; Gerard T. McKee, Editor(s)

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