Abstract
The introduction of third generation robots in automated systems is impeded by the absence of 3-D sensors collecting panoramic range data at medium distance ( 0–10 meters) in a large volume (up to 100 m 3 ). The work described in the present paper offers a certain number of solutions to this general problem. Our system is built around a 2-D passive machine vision connected to various cameras (VIDICON and CCD). The host computer (HP 1000) pilots numerous sorts of range finders (acoustic and optical). The concept of multisensory range finders is introduced to allow the best use of each type (active methods). This 3-D vision has been tested in two fields of application: • -in robotics for the absolute of a mobile robot; • -in audiovisual for fixing objects or actors in a 3-D synthetic scene. In some cases the absolute location problem is solved with an opto-electronic remote tracking measurement system. It is the last part of our 3-D machine vision.
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