3D feature tracking using a dynamic structured light system
3D feature tracking using a dynamic structured light system
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DOI：
10.1109/crv.2005.1
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发表时间：
2005-05
期刊：
影响因子：
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通讯作者：
A. Adán;F. Molina;A. Vázquez;Luis Morena
中科院分区：
文献类型：
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作者：
A. Adán;F. Molina;A. Vázquez;Luis Morena
在本文中，我们提出了一种 3D 跟踪系统，能够识别移动场景表面上的多个特征点。该系统被认为是工业机器人与动态场景交互的第一步。通过基于无序码字图案的新型彩色结构光技术，提取并处理物体表面的 3D 坐标。该方法以轻松且鲁棒地解决对应问题的方式恢复 3D 信息。建立一组特征点后，进行帧间窗口搜索算法来解决跟踪问题。我们的实验室建立了一个受控实验装置，由一个二自由度移动平台、一个光结构传感器和一个机械手机器人组成。该实验已在中等空间分辨率和软运动规范上进行，给出了有希望的结果。
In this paper we present a 3D tracking system that is able to identify several characteristic points on the surface of a moving scene. The system is considered as a preliminary step in the interaction of industrial robots with dynamic scenes. Through a new color structured light technique based on a disordered codeword pattern, 3D coordinates of the object surface are extracted and processed. This method recovers 3D information in such a way that the correspondence problem is easily and robustly solved. After establishing a set of feature points, an inter frame window search algorithm is carried out to solve the tracking problem. A controlled experimental setup has been built in our lab composed by a 2 DOF mobile platform, a light structured sensor and a manipulator robot. The experimentation has been performed on medium spatial resolution and for soft movement specifications giving promising results.