Vision System for Environment-Driven Robots using Chipped Range Image Sensor

提出了一种利用距离像实时跟踪目标三维运动的新方法。超高速测距传感器“硅测距仪”使其能够采集每秒30帧以上的距离图像，并旋转以保持物体在可测量的区域内。粗略而快速的距离图像处理结果控制着距离传感器的角度，而以目标为中心的距离图像决定了目标的姿态。图形工作站的三维CG绘制硬件从表面模型快速生成距离像，从而使比较算法变得简单。在人机协同系统中，运动估计的跟踪速度和精度似乎是可行的，在自然环境中测量自由形状物体的运动是一个非常困难的问题。刚体目标的实时位姿估计问题已经得到了很多研究人员的研究，但能够进行全三维位姿估计的系统还很少，为了解决这一问题，为高级…开发了距离传感器更多的无接触测量。虽然通常的测距仪非常昂贵和缓慢，但现在我们知道一些使用LSI技术的非常高速的测距仪。硅测距仪是我们实验室研制的一种高速测距传感器。这种测距仪可以测量每秒30帧以上的24^lt；**；24像素范围图像，精度低于1毫米。在此基础上，提出了一种新的距离像实时处理方法。“综合分析”概念是一个复杂且不可分析的问题。而且这种方法非常灵活，因为“综合”程序是所有应用程序的共同过程。需要生成多幅距离像才能与测量的距离像进行比较，因此需要一种快速生成算法。因此，我们提出了一种利用图形绘制硬件生成距离像的新方法。开发图形硬件是为了快速生成强度图像，但也可以使用Z-Buffer快速生成距离图像。普通图形工作站有一个带有Z-Buffer的图形加速器，为了验证该方法的有效性，我们选择了一个自由曲面物体的六自由度跟踪任务。快速距离像合成使得对曲面目标进行实时跟踪成为可能。我们的方法也可以应用于其他距离像处理。较少

We propose a new method to track 3-D motion of an object in real-time, using range images. Very high speed range sensor "Silicon Range Finder" makes it possible to acquire range images more than 30 frames per second, and rotated to keep the object in measurable area. Rough but fast result of range image processing controls the angle of the range sensor, and the object centered range images decide the pose of object. 3-D CG rendering hardware of the graphics workstation generates range images from the surface model very fast, so it makes comparison algorithm simple. Tracking speed and accuracies of estimated motion seem to be feasible for the man-machine cooperative systems.It is a very difficult problem to measure a movement of free-form object in natural environment. The problem of real-time pose estimation of a rigid object has been approached by many reseachers, but there are few systems capable of full 3-D pose estimation.To solve this problem, range sensor is developed for advance … More d measurement without contact. Though usual rangefinder was very expensive and slow, but now we know some very high speed rangefinders using LSI technology. Silicon Range Finder is one of high speed range sensor developed in our laboratory. This rangefinder can measures 24^<**>24 pixels range images more than 30 frames per second, and its precision is under one millimeter. Then we propose a new real-time processing method for the range image.The "Analysis by Synthesis" concept is known for complex and not analyzable problem. Also this method is very flexible, because the "Synthesis" procedure is a common process to all application. Several range images must be generated to compare with measured range image, so the fast generating algorithm is needed. Therefore, we propose a new method to generate range images using graphics rendering hardware. Graphics hardwares are developed to generate intensity images fast, but range images can be also generated fast using Z-Buffer. Ordinary graphics workstation has a graphics accelerator with Z-buffer.To prove our efficient method, we selected a task that is 6-DOFs tracking of free-formed object. Fast range image synthesis makes it possible to track a object with curved surface in real-time. Also our method can be applied to other range image processing. Less