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Proceedings Paper

3D sensor system using multistripe laser and stereo camera for environment recognition of mobile robots
Author(s): Min Young Kim; Hyung Suck Cho; Jae Hoon Kim
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Paper Abstract

In recent years, intelligent autonomous mobile robots have drawn tremendous interests as service robots for serving human or industrial robots for replacing human. To carry out the task, robots must be able to sense and recognize 3D space that they live or work. In this paper, we deal with the topic related to 3D sensing system for the environment recognition of mobile robots. For this, the structured lighting is basically utilized for a 3D visual sensor system because of the robustness on the nature of the navigation environment and the easy extraction of feature information of interest. The proposed sensing system is classified into a trinocular vision system, which is composed of the flexible multi-stripe laser projector, and two cameras. The principle of extracting the 3D information is based on the optical triangulation method. With modeling the projector as another camera and using the epipolar constraints which the whole cameras makes, the point-to-point correspondence between the line feature points in each image is established. In this work, the principle of this sensor is described in detail, and a series of experimental tests is performed to show the simplicity and efficiency and accuracy of this sensor system for 3D the environment sensing and recognition.

Paper Details

Date Published: 18 October 2002
PDF: 11 pages
Proc. SPIE 4902, Optomechatronic Systems III, (18 October 2002); doi: 10.1117/12.467350
Show Author Affiliations
Min Young Kim, Korea Advanced Institute of Science and Technology (South Korea)
Hyung Suck Cho, Korea Advanced Institute of Science and Technology (South Korea)
Jae Hoon Kim, Samsung Heavy Industries Co., Ltd. (South Korea)

Published in SPIE Proceedings Vol. 4902:
Optomechatronic Systems III
Toru Yoshizawa, Editor(s)

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