23 May 1983 Movable Light-Stripe Sensor For Obtaining Three-Dimensional Coordinate Measurements
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Abstract
We describe an apparatus for obtaining three-dimensional surface information that may be used to recognize objects and determine their position and orientation. A lightweight camera and a light-stripe projector using an infrared laser diode are mounted in the hand of a robot manipulator. Image-processing routines locate the stripe in the camera image, and homogeneous coordinate transform techniques are then applied to solve for the three-dimensional coordinates of points illuminated by the stripe. We describe the hardware, the equations for coordinate measurement and the procedures for accurately calibrating the apparatus.
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Gerald J. Agin, Gerald J. Agin, Peter T. Highnam, Peter T. Highnam, } "Movable Light-Stripe Sensor For Obtaining Three-Dimensional Coordinate Measurements", Proc. SPIE 0360, Robotics and Industrial Inspection, (23 May 1983); doi: 10.1117/12.934118; https://doi.org/10.1117/12.934118
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