Detection of liquids in cups based on the refraction of light with a depth camera using triangulation
Detection of liquids in cups based on the refraction of light with a depth camera using triangulation
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DOI：
10.1109/iros.2014.6943280
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发表时间：
2014-11
期刊：
影响因子：
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通讯作者：
Yoshitaka Hara;F. Honda;T. Tsubouchi;A. Ohya
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文献类型：
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作者：
Yoshitaka Hara;F. Honda;T. Tsubouchi;A. Ohya
我们提出了一种基于三角测量的深度相机识别桌上杯子和杯子中液体的方法。当我们用深度相机测量杯子里的不透明液体时，测量的是液体表面。另一方面，当我们测量透明液体时，由于光折射和三角测量原理，测量凸起的底部。我们从理论上阐述了它，并证实了理论与实验结果是一致的。因此，根据这一理论，利用测量的高度来检测杯子中是否存在液体是可能的。在我们的实验中，所提出的方法已经成功地检测了各种透明或不透明的液体。
We propose a method to recognize cups on desks and to detect liquids in cups with a depth camera using triangulation. When we measure an opaque liquid in a cup with the depth camera, the liquid surface is measured. On the other hand, when we measure a transparent liquid, the raised bottom is measured due to the principle of light refraction and triangulation. We formulated it theoretically, and confirmed that the theory is consistent with the experimental results. Therefore, it is possible to detect the existence of liquids in cups using the measured height based on this theory. In our experiments, the proposed method have successfully detected various transparent or opaque liquids.