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Proceedings Paper

Movable Light-Stripe Sensor For Obtaining Three-Dimensional Coordinate Measurements
Author(s): Gerald J. Agin; Peter T. Highnam
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Paper Abstract

We describe an apparatus for obtaining three-dimensional surface information that may be used to recognize objects and determine their position and orientation. A lightweight camera and a light-stripe projector using an infrared laser diode are mounted in the hand of a robot manipulator. Image-processing routines locate the stripe in the camera image, and homogeneous coordinate transform techniques are then applied to solve for the three-dimensional coordinates of points illuminated by the stripe. We describe the hardware, the equations for coordinate measurement and the procedures for accurately calibrating the apparatus.

Paper Details

Date Published: 23 May 1983
PDF: 8 pages
Proc. SPIE 0360, Robotics and Industrial Inspection, (23 May 1983); doi: 10.1117/12.934118
Show Author Affiliations
Gerald J. Agin, Carnegie-Mellon University (United States)
Peter T. Highnam, Carnegie-Mellon University (United States)


Published in SPIE Proceedings Vol. 0360:
Robotics and Industrial Inspection
David P. Casasent, Editor(s)

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