Measuring the distance and orientation of a planar surface usingnonstructured lighting-3-D measurement system for indoor mobile robots
Tsukiyama, T.
Instrumentation and Measurement, IEEE Transactions on
Volume 45, Issue 5, Oct 1996 Page(s):885 - 893
Digital Object Identifier 10.1109/19.536706
Summary:This paper describes a novel method for measuring the distances to
planar surfaces and their orientations. The measurement system consists
of a TV camera and two ordinary lamps. The lamps are switched on
alternately, and images under each lighting condition are taken. If the
two light sources are arranged at appropriate positions with respect to
the camera, the peak positions in the two images directly give the
surface orientation and the perpendicular distance to the plane. By
measuring the two peak positions, this method promises to speed up the
acquisition of geometrical information on an entire scene considerably
because the distance and orientation can be obtained without analyzing
range maps. Since the equipment setup is very simple, the proposed
technique will be useful, for example, for real-world robotic
applications such as navigation of indoor mobile robots. The
experimental results on the error of measurement show that the method is
sufficient for such purposes
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