Abstract
High-speed recognition of the shape of a target object is indispensable for robots to perform various kinds of dexterous tasks in real time. In this paper, we propose a high-speed 3-D sensing system with active target-tracking. The system consists of a high-speed camera head and a high-speed projector, which are mounted on a two-axis active vision system. By measuring a projected coded pattern, 3-D measurement at a rate of 500 fps was achieved. The measurement range was increased as a result of the active tracking, and the shape of the target was accurately observed even when it moved quickly. In addition, to obtain the position and orientation of the target, 500 fps real-time model matching was achieved.
Highlights
In recent years, depth image sensors capable of obtaining 3-D information with a single sensor unit have shown remarkable progress, and various types of depth image sensors have been mainly used in robot vision research to obtain the 3-D environment of a workspace in real time
We propose a 500 Hz active high-speed 3-D vision system equipped with a high-speed 3-D sensor mounted on an active vision mechanism [8]
The generated image is converted to point cloud data, model matching is performed with a reference model, and the position and orientation of the target are detected at 500 Hz
Summary
Depth image sensors capable of obtaining 3-D information with a single sensor unit have shown remarkable progress, and various types of depth image sensors have been mainly used in robot vision research to obtain the 3-D environment of a workspace in real time. One type of depth sensor in widespread use employs a spatial coded pattern method in which the space is represented by binary codes by projecting multiple striped patterns [1]. There is a drawback that it takes time to recover the 3-D shape from multiple projection images This method is not fast enough for real-time visual feedback, and it is difficult to use it for dynamically changing environments. Such a system is effective for controlling a robot at high speed, and various applications of high-speed vision have been developed [4,5] The performance of such a target tracking system has improved [6]. We have added detailed explanations and new results in this paper
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