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Specular objects in range cameras: reducing ambiguities by motion
Linköpings universitet.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
1994 (English)In: Multisensor Fusion and Integration for Intelligent Systems: MFI '94, Piscataway, NJ: IEEE Communications Society, 1994, 320-328 p.Conference paper (Refereed)
Abstract [en]

Range cameras using structured light and triangulation are essentially based on the assumption of one diffuse reflection from the measured surfaces, Specular and transparent objects usually give multiple reflections and direct triangulation can give different types of `ghosts' in the range images. These `ghosts' are likely to cause serious errors during gripping operations. As the robot moves some of the `ghosts' move in an inconsistent way. In this paper, the authors study, experimentally and theoretically, how the range measurements can be integrated in a consistent way during the motion of the robot. Emphasis is on parts with `optical complications' including multiple scattering. For a scene with one planar mirror the `ghosts' are shown to lie in a plane separated from the laser plane. In this case the orientation and position of the mirror can be estimated

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 1994. 320-328 p.
Research subject
Industrial Electronics
URN: urn:nbn:se:ltu:diva-29658DOI: 10.1109/MFI.1994.398437Local ID: 334ed240-7cda-11db-8824-000ea68e967bOAI: diva2:1002882
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems : 02/10/1994 - 05/10/1994
Godkänd; 1994; 20061126 (ysko)Available from: 2016-09-30 Created: 2016-09-30Bibliographically approved

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