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1 November 1990 Real-time processor for 3-D information extraction from image sequences by a moving area sensor
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This paper presents a real time image processor for obtaining threedimensional( 3-D) distance information from image sequence caused by a moving area sensor. The processor has been developed for an automated visual inspection robot system (pilot system) with an autonomous vehicle which moves around avoiding obstacles in a power plant and checks whether there are defects or abnormal phenomena such as steam leakage from valves. The processor detects the distance between objects in the input image and the area sensor deciding corresponding points(pixels) between the first input image and the last one by tracing the loci of edges through the sequence of sixteen images. The hardware which plays an important role is two kinds of boards: mapping boards which can transform X-coordinate (horizontal direction) and Y-coordinate (vertical direction) for each horizontal row of images and a regional labelling board which extracts the connected loci of edges through image sequence. This paper also shows the whole processing flow of the distance detection algorithm. Since the processor can continuously process images ( 512x512x8 [pixels*bits per frame] ) at the NTSC video rate it takes about O. 7[sec] to measure the 3D distance by sixteen input images. The error rate of the measurement is maximum 10 percent when the area sensor laterally moves the range of 20 [centimeters] and when the measured scene including complicated background is at a distance of 4 [meters] from
© (1990) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Tetsuo Hattori, Makoto Nakada, and Katsumi Kubo "Real-time processor for 3-D information extraction from image sequences by a moving area sensor", Proc. SPIE 1349, Applications of Digital Image Processing XIII, (1 November 1990);


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