Construction of a compact range image sensor using a multi-slit laser projector suitable for a robot hand
Construction of a compact range image sensor using a multi-slit laser projector suitable for a robot hand
复制标题
使用适用于机器人手的多缝激光投影仪构建紧凑范围图像传感器
DOI：
10.1109/iros.2012.6385712
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
K. Umeda
中科院分区：
文献类型：
--
作者：
K. Iwasaki;Kenji Terabayashi;K. Umeda
本文利用多狭缝激光投影仪构建了一种用于近距离测量的紧凑型图像传感器。通过传感器获得的三维(3D)信息对于抓取物体的机器人来说是重要的。附着在机器人上进行测量的传感器经常在抓取物体之前被手遮挡。所构建的传感器足够紧凑，可以连接到机器人的手上，从而可以避免遮挡。传感器的紧凑性是通过使用小型CMOS相机和激光投影仪，并将它们之间的基线长度设置得尽可能短来实现的。短基线长度也使短距离测量成为可能。实验证明，所构建的传感器能够在较短的距离内获得物体的准确三维信息。
In this paper, a compact range image sensor used for short-range measurements is constructed with a multi-slit laser projector. Three-dimensional (3D) information obtained with a sensor is important for a robot that grasps an object. Sensors attached to robots for measurement are often hindered by occlusion by the hand immediately before an object is grasped. The constructed sensor is compact enough to be attached to a robot's hand, and occlusion can thus be avoided Compactness of the sensor is achieved by using a small CMOS camera and a laser projector and setting the baseline length between them as short as possible. The short baseline length also enables measurement in a short distance. Some experiments verify that the constructed sensor obtains accurate 3D information of objects in a short distance.