Tiny range image sensors using multiple laser lights for short distance measurement
Tiny range image sensors using multiple laser lights for short distance measurement
复制标题
使用多个激光进行短距离测量的微小范围图像传感器
DOI：
10.1117/12.2589196
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Kazunori Umeda
中科院分区：
文献类型：
--
作者：
Tomoaki Fukuda;Yonghoon Ji;Kazunori Umeda
本文介绍了非常紧凑的距离图像传感器的短距离测量，这是适合于机器人的手等。机器人操作，如抓取是需要一个距离图像传感器，以获得三维（3D）的目标对象的信息的应用之一。对于这样的应用，在测量时需要避免机器人操纵器或机器人手的遮挡，并且为了避免遮挡，将传感器附接到机器人手是有效的。为此目的，需要足够小并且可以在短距离处测量的距离传感器。本文构造了两种传感器：一种使用多狭缝激光投影仪，另一种使用多光斑激光投影仪。利用主动立体的原理，将小型激光投影仪和小型摄像机相结合，实现了距离像的真实的实时获取。针对这两种传感器提出了相应的距离像获取方法，特别是针对多光路激光投影仪的距离像获取方法，提出了一种同时利用视差和光强的方法。所提出的传感器的有效性进行了验证，通过短距离目标测量实验。
This paper presents very compact range image sensors for short distance measurement, which is suitable for robot hands, etc. Robot manipulation such as grasping is one of the applications that require a range image sensor to obtain threedimensional (3D) information of the target object. For such applications, it is necessary to avoid the occlusion by a robot manipulator or a robot hand while measurement, and it is effective to attach a sensor to the robot hand for the avoidance. For this aim, a range sensor that is small enough and can measure at the short distance is required. Two sensors are constructed in this paper: one uses a multi-slit laser projector and the other uses a multi-spot laser projector. A small laser projector and a small camera is combined and range images are obtained in real time using the principle of active stereo. Appropriate methods to obtain range image are proposed for both sensors, and especially for the one with a multislit laser projector, a method to use both disparity and the intensity of laser light image is presented. The effectiveness of the proposed sensors is verified through short-range object measurement experiments.
人形机器人抓取门把手的系统触摸方案
DOI：
10.1109/icra.2011.5980547
发表时间：
2011
期刊：
2011 IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
Hitoshi Arisumi;Nosan Kwak;K. Yokoi
通讯作者：
K. Yokoi
激光辅助远程机器人控制可增强残疾人的操控能力
DOI：
10.1109/iros.2010.5653184
发表时间：
2010
期刊：
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
作者：
Karan Khokar;K. Reed;Redwan Alqasemi;R. Dubey
通讯作者：
R. Dubey
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
发表时间：
2012
期刊：
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
作者：
K. Iwasaki;Kenji Terabayashi;K. Umeda
通讯作者：
K. Umeda