Stereo Moiré Technique: A Novel 3-D Measurement Method Using a Stereo Camera and a Digital Pattern Projector

Lee, Hyun-Ki; Cho, Hyungsuck

doi:10.1080/15599610701397482

Cited by 16 publications

(4 citation statements)

References 15 publications

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“…All blocks are covered tightly, so there is lack of natural illumination. Therefore, for sensing the environment, only active vision sensors such as laser structured light, moiré method [10] and range finder can be used. In this paper, an active vision sensor system with laser structured light was developed as shown in Fig.…”

Section: The Developed Sensor Systemmentioning

confidence: 99%

Recognition of 3D objects for autonomous mobile robot's navigation in automated shipbuilding

Lee

Cho

2007

SPIE Proceedings

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Nowadays many parts of shipbuilding process are automated, but the painting process is not, because of the difficulty of automated on-line painting quality measurement, harsh painting environment and the difficulty of robot navigation. However, the painting automation is necessary, because it can provide consistent performance of painting film thickness. Furthermore, autonomous mobile robots are strongly required for flexible painting work. However, the main problem of autonomous mobile robot's navigation is that there are many obstacles which are not expressed in the CAD data. To overcome this problem, obstacle detection and recognition are necessary to avoid obstacles and painting work effectively. Until now many object recognition algorithms have been studied, especially 2D object recognition methods using intensity image have been widely studied. However, in our case environmental illumination does not exist, so these methods cannot be used. To overcome this, to use 3D range data must be used, but the problem of using 3D range data is high computational cost and long estimation time of recognition due to huge data base. In this paper, we propose a 3D object recognition algorithm based on PCA (Principle Component Analysis) and NN (Neural Network). In the algorithm, the novelty is that the measured 3D range data is transformed into intensity information, and then adopts the PCA and NN algorithm for transformed intensity information to reduce the processing time and make the data easy to handle which are disadvantages of previous researches of 3D object recognition. A set of experimental results are shown to verify the effectiveness of the proposed algorithm.

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Section: The Developed Sensor Systemmentioning

confidence: 99%

Recognition of 3D objects for autonomous mobile robot's navigation in automated shipbuilding

Lee

Cho

2007

SPIE Proceedings

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“…Another technique based on the moiré effect to obtain the 3D shape is that presented by Lee and Cho [18] and Reich et al [19], where two digital cameras and a structured light projector are used. The moiré pattern associated with the surface shape is obtained by digitally superimposing the images recorded by the cameras.…”

Section: Introductionmentioning

confidence: 99%

Double structured light with divergent projection for surface topometry

Parra-Michel¹,

Martínez-Peláez²,

Duarte-Möller³

2021

Meas. Sci. Technol.

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A simultaneous double divergent projection of structured light to measure large and complex surfaces at short illumination distances is reported. When the structured and divergent lighting is projected, a moiré pattern is created, with the variable period associated with the out-of-plane surface that is analyzed. A theoretical description of the mathematical model and an algorithm to correct the measurements due to the divergence of the illumination are presented, which aim to establish the correct phase-height relationship. The mathematical model and the proposed method are verified numerically and experimentally. Measurements of the complex surfaces show high accuracy with low uncertainty. The system has been shown to allow rapid measurements in an efficient and easy way using a single camera.

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“…The depth sensing techniques have been widely used in the field of virtual reality. A normal measurement system consists of two cameras can obtain the depth values at two different information must be identical because the two cameras look at the same point on the object being measured [1]. The depth sensor can incorporate image processing technology to achieve user and system positioning.…”

Section: Introductionmentioning

confidence: 99%

The Manipulation of Real-Time Kinect-Based Robotic Arm Using Double-Hand Gestures

et al. 2020

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This study focused on utilizing the Kinect depth sensor to track double-hand gestures and control a real-time robotic arm. The control system is mainly composed of the microprocessor, a color camera, the depth sensor, and the robotic arm. The Kinect depth sensor was used to take photos of the human body to analyze the skeleton of a human body and obtain the relevant information. Such information was used to identify the gestures of the left hand and the left palm of the user. The gesture of left hand was used as an input command device. The gesture of the right hand was used for imitation movement teaching of robotic arm. From the depth sensor, the real-time images of the human body and the deep information of each joint were collected and converted to the relative positions of the robotic arm. Combining forward kinematics and inverse kinematics and D-H link, the gesture information of the right hand was calculated, which was converted via coordinates into each angle of the motor of the robotic arm. From the color camera, when the left palm was not detected, the user could simply use the right hand to control the action and movement of the real-time robotic arm. When the left palm was detected and 5 fingertips were identified, it meant the start of recording the real-time imitation movement of the robotic arm by the right hand. When 0 fingertip was identified, it meant the stoppage of the above recording. When 2 fingertips were identified, the user could not only control the real-time robotic arm but also repeat the recorded actions.

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Stereo Moiré Technique: A Novel 3-D Measurement Method Using a Stereo Camera and a Digital Pattern Projector

Cited by 16 publications

References 15 publications

Recognition of 3D objects for autonomous mobile robot's navigation in automated shipbuilding

Recognition of 3D objects for autonomous mobile robot's navigation in automated shipbuilding

Double structured light with divergent projection for surface topometry

The Manipulation of Real-Time Kinect-Based Robotic Arm Using Double-Hand Gestures

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