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Proceedings Paper

Novel visual sensor system fusing an active trinocular vision and a stereo vision for 3D range data acquisition
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Paper Abstract

One of major research issues associated with 3D range acquisition is the creation of sensor systems with various functionalities and small size. A variety of machine vision techniques have been developed for the determination of 3D scene geometric information from 2D images. As one of active sensors, structured lighting method has been widely used because of its robustness on the illumination noise and its extractability of feature information of interest. As one of passive sensors, stereo vision does also due to its simple configuration and easy construction. In this work, we propose a novel visual sensor system for 3D range acquisition, using active technique and passive one simultaneously. The proposed sensor system includes inherently two types of sensors, an active trinocular vision and a passive stereo vision. In the active vision part of this sensor, the structured lighting method using multi-lasers is basically utilized. In its stereo vision part, a general passive stereo is constructed. Since each of them has its own advantages and disadvantages on the measurements of various objects, we propose sensor fusion algorithms for acquiring more reliable range information from them. To see how the proposed sensing system can be applied to real applications, we mount it on a mobile robot, and a series of experimental tests is performed for a variety of configurations of robot and environment. The sensing results are discussed in detail.

Paper Details

Date Published: 25 October 2004
PDF: 9 pages
Proc. SPIE 5603, Machine Vision and its Optomechatronic Applications, (25 October 2004); doi: 10.1117/12.571041
Show Author Affiliations
Min Young Kim, Korea Advanced Institute of Science and Technology (South Korea)
Hyungsuck Cho, Korea Advanced Institute of Science and Technology (South Korea)
Hyun Ki K. Lee, Korea Advanced Institute of Science and Technology (South Korea)

Published in SPIE Proceedings Vol. 5603:
Machine Vision and its Optomechatronic Applications
Shun'ichi Kaneko; Hyungsuck Cho; George K. Knopf; Rainer Tutsch, Editor(s)

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