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

使用芯片范围图像传感器的环境驱动机器人视觉系统

基本信息

批准号：
07555130
负责人：
INOKUCHI Seiji
金额：
$ 4.74万
依托单位：
Osaka University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (A)
财政年份：
1995
资助国家：
日本
起止时间：
1995 至 1996
项目状态：
已结题

项目摘要

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

我们提出了一种使用距离图像实时跟踪物体3D运动的新方法。非常高速的距离传感器“Silicon Range Round”可以每秒获取超过30帧的距离图像，并旋转以保持物体在可测量区域内。粗而快的距离像处理结果控制着距离传感器的角度，以目标为中心的距离像决定着目标的姿态。图形工作站的三维CG绘制硬件可以快速地从表面模型生成深度图像，从而简化了比较算法。在人机合作系统中，跟踪速度和估计运动的精度是可行的。刚体运动姿态的实时估计问题一直是众多研究者所关注的问题，但目前能够实现全三维姿态估计的系统还不多见，为了解决这一问题，距离传感器应运而生 ...更多信息无接触测量。虽然通常的测距仪是非常昂贵和缓慢，但现在我们知道一些非常高速测距仪使用LSI技术。硅距离传感器是本实验室研制的一种高速距离传感器。该测距仪可以测量24^<**>24像素的距离图像，每秒超过30帧，其精度低于1毫米。在此基础上，提出了一种新的深度图像实时处理方法。此外，这种方法是非常灵活的，因为“合成”过程是一个共同的过程，所有的应用。为了与实测距离图像进行比较，需要生成多幅距离图像，这就需要快速生成算法。因此，我们提出了一种新的方法来生成深度图像的图形绘制硬件。图形硬件被开发用于快速生成强度图像，但距离图像也可以使用Z-Buffer快速生成。普通图形工作站都有带Z缓冲区的图形加速器，为了验证本文方法的有效性，我们选择了一个自由曲面的六自由度跟踪任务。快速距离像合成技术使曲面目标的实时跟踪成为可能。该方法也可应用于其它深度图像的处理。少