23 March 1993 Fast and precise 3D sensor insensitive to ambient lighting
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Proceedings Volume 1822, Optics, Illumination, and Image Sensing for Machine Vision VII; (1993) https://doi.org/10.1117/12.141941
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States
Abstract
Flexible handling by robots and form inspection require fast and precise three dimensional (3D) information. Therefore we developed a fast and precise range-image sensor based on triangulation and the coded light approach. We project gray-coded light patterns with a programmable LCD line-projector. The stroboscopic flash of the projector is synchronized with the electronic shutter of the camera; therefore the 3D-sensor is insensitive to normal ambient light. Using special image processing hardware based on the synchronous dataflow paradigm, we are able to acquire and process a range-image within 220 ms. We have used this 3D-sensor in conjunction with a robot to sort postal parcels of arbitrary size and orientation from a pile. A cycle time (image acquisition, processing, grasping and placing) of 3 s has been reached, limited by the speed of the robot. Some details of the image-processing and the methods to achieve a high robustness of the system are presented. Further we discuss the accuracy achieved with this 3D-sensor. Results of the tests with high ambient light and the system calibration methods are presented.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Martin Rechsteiner, Martin Rechsteiner, Bruno Schneuwly, Bruno Schneuwly, Walter Guggenbuehl, Walter Guggenbuehl, } "Fast and precise 3D sensor insensitive to ambient lighting", Proc. SPIE 1822, Optics, Illumination, and Image Sensing for Machine Vision VII, (23 March 1993); doi: 10.1117/12.141941; https://doi.org/10.1117/12.141941
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