A compact range image sensor suitable for robots
A compact range image sensor suitable for robots
复制标题
适用于机器人的紧凑型图像传感器
DOI：
10.1109/robot.2004.1307550
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
K. Umeda
中科院分区：
文献类型：
--
作者：
K. Umeda
本文讨论了一种基于多光斑激光投影仪的距离像传感器。在许多情况下，机器人不可避免地要在三维环境中执行各种任务，而距离图像是重要的传感器信息。该传感器被认为适合于许多机器人应用中的距离图像采集。讨论了该传感器的工作原理、测量范围和测量精度。为了提高传感器的效率，提出了通过旋转摄像机来提高传感器效率的方法。利用商用激光投影仪搭建了该传感器的样机，并通过实验对其效率进行了评估。此外，作为该传感器的应用，提出了一种新的平面区域检测方法。引入了相对视差图，并对平面区域的检测进行了验证。
This paper discusses a range image sensor using a multi-spot laser projector. In many situations, it is inevitable for robots to behave in three-dimensional (3D) environment for various tasks and range images are important sensor information. The sensor in this paper is thought to be suitable to acquire range images for many robotic applications. Characteristics of the sensor are discussed as its principle, its measurement range and precision. Rotation of the CCD camera is presented to improve the sensor's efficiency. A prototype of the sensor is constructed using a commercial laser projector, and its efficiency is evaluated by experiments. Furthermore, a novel method for detecting planar regions is proposed as an application of this sensor. Relative disparity map is introduced and proved to be effective for detecting planar regions.
DOI：
10.1109/robot.2001.932920
发表时间：
2001-05
期刊：
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
影响因子：
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作者：
K. Okada;S. Kagami;M. Inaba;H. Inoue
通讯作者：
K. Okada;S. Kagami;M. Inaba;H. Inoue