Development of Reactive Range Finder and its Application to Real Time Measurement of Moving Object

本文介绍了一种新的测距系统——被动测距仪，它根据视觉任务的类型主动获取所需的信息。该系统可以生成一个投影模式，能够根据物体的形状、位置和运动引起的场景变化进行高效有效的测量。为了验证该系统的有效性，我们在该系统上对六自由度运动的多面体和圆柱物体进行了跟踪应用。为了确定目标的位置和姿态，反应式测距仪选择可测量表面。因此，图像处理算法变得简单易行，无需任何专用硬件即可实现可靠的视频速率（如实时速率）跟踪。

This report describes a new range finding system named Reactive Range Finder, which actively acquires the necessary information according to the kind of vision task. This system can generate a projection pattern that enables an efficient and effective measurement adapted to the change of the scene caused by shape, location and movement of the object. To confirm the efficiency of this system, we made tracking application of polyhedral and cylindrical objects moving with 6 degrees of freedom on this system. In order to determine the position and posture of the object, the Reactive Range Finder selects measurable surface. As the result, the image processing algorithm became simple and easy, and reliable video-rate, say real-time-rate, tracking was achieved without any special-purpose hardware.