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Robust colour range sensing for robotic applications using a stereoscopic light stripe scanner
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
Intelligent Robotics Research Centre, Monash University, Clayton.
Intelligent Robotics Research Centre, Monash University, Clayton.
2002 (English)In: Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE Communications Society, 2002, 86-91 p.Conference paper (Refereed)
Abstract [en]

This paper presents an integrated, low-level approach to removing sensor noise, cross talk, spurious specular reflections, and solving the association problem in a light stripe scanner. Most single-camera scanners rely on the laser brightness exceeding that of the entire image. Our system uses two cameras to measure the stripe and combines knowledge of the light plane orientation to produce useful validation properties. The key result is the development of a condition relating image plane measurements and camera intrinsic parameters, which allows validationlassociation to be performed independently of 3D reconstruction. The same equations are used to improve ranging accuracy compared to single-camera systems. We also show how the system may be self-calibrated using measurements of an arbitrary nonplanar target. As validation allows operation in ambient light, registered colour and range are captured in the same sensor. An experimental scanner demonstrates the effectiveness of the proposed techniques.

Place, publisher, year, edition, pages
IEEE Communications Society, 2002. 86-91 p.
Research subject
Industrial Electronics
URN: urn:nbn:se:ltu:diva-29960DOI: 10.1109/IRDS.2002.1041367Local ID: 3998e500-7c9e-11db-8824-000ea68e967bISBN: 0-7803-7398-7OAI: diva2:1003187
IEEE/RSJ international conference on intelligent robots and systems : 30/09/2002 - 05/10/2002
Godkänd; 2002; 20061031 (ysko)Available from: 2016-09-30 Created: 2016-09-30Bibliographically approved

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