Development of The Robot Eye System using a new device FIBER GRATING

本文介绍了利用光纤光栅作为图案投影装置的三维形状测量系统的研制。我们采用了一种方法，通过在物体上投射一个三维的亮点阵列来确定物体的三维形状，并测量每个亮点的位移。该方法被归类为主动立体方法，该方法的显著特点是通过利用fg作为图案投影装置和光纤手柄作为图像检测和传输装置，成功地实现了系统视觉传感器部分的极度小型化。第一年，我们在一个稳定的光学平台上进行了基本系统的实验构建，以验证所提出方法的正确性，并收集了开发中试系统所需的基础数据。我们决定了系统的规格。第二年，我们通过讨论第一年获得的基础数据，明确了该方法存在的问题，并针对这些问题陆续提出了改进技术。提出了一种从输入图像中识别每个点的顺序的方法，并在系统中实现。此外，我们还实现了一种算法来改善测量精度的退化，这种退化取决于图案投影和图像检测设备的光学像差以及光纤手柄和CCD相机的分辨率限制。最后，我们将这个系统安装在机器人手臂上，并尝试使用机器人视觉系统，结果我们验证了测量具有凹面物体的可能性。

This report describes on the development of the 3-dimensional shape measurement system using a FIBER GRATING (F.G.) as a pattern projection device.We adopted a method which decides the 3-dimensional shape of the object by projecting a 3-dimensional array of bright spots on the object and measures the displacement of the each spot. This method is classified into the Active Stereo Method and the distinctive feature of the method is that which succeeds in the extreme miniaturization of the visual sensor parts of the system by the utilization of the F.G. as a pattern projection device and a fiber bandle as an image detection and transmission device.The first year, we made an experimental constructing the basic system on a stabilized optical bench to confirm propriety of the proposed method, and collected the basic data required for the development of the pilot system. And we decided a specification of the system.The next year, we clarified problems of this method by discussing the basic data obtained in the first year and in succession we proposed improving techniques for these problems.We proposed the method recognizing the order of each spot from an input image and implemented to the system. And we also implemented an algorithm to improve the degradation of the measurement precision which depends on the optical aberations of pattern projection and image detecting devices and on the resolution limitations of the fiber bandle and a CCD camera.And finally we attached this system to a robot arm to try to use actually and a robot visual system, as a results we verified the possibility to measure objects having concave planes.