<title>Multivision system for 3D measurement within camera vision</title>

Abstract

Basically the Multivision System consists of two different sensor systems combined to a multisensor system via the data processing. The first one is a 2D-picture processing system, where as the second one is the 3D Laser Range Finder module. In view of the X/Y-scanner this module feeds digital picture data--information on the object's position in terms of its Z axis and its tilt and turn angles--to the interface. The Laser Range Finder provides absolute range values at the interface and the laser spot on the surface of the measured object will be detected by the camera system. Any information of a scene provided by the camera system (e.g. edge-detection, edge-description) can be used to control the laser spot in view of the 3D measurement. Thereby the location of a scan point, which is measured with the laser scanner, can be transformed into the camera system, so that the position in the camera image is calculable. An easy way to describe the geometric information of such points is the use of coordinate systems. Therefore the multisensor system is molded by a set of different coordinate systems: the scanner-, the camera- and the cartesian transfer coordinate system. The paper deals with geometric modelling, the control system architecture as well as the practical system design and some accuracy considerations. The first application focused within this paper are navigation of autonomous vehicles and obstacle detection in such an environment.