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A Structured Light Range Imaging System Using a Moving Correlation Code

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2 Author(s)
Pipitone, F. ; Navy Center for Appl. Res. in Artificial Intell., Naval Res. Lab., Washington, DC ; Hartley, R.

We describe a system which produces a dense accurate range image using 8 consecutive frames of camera data in conjunction with a special projector. A prototype has been built and tested, and yields a typical range error of about 0.2 mm at 2 meters range with a baseline just over one meter. The camera is directed at a scene, along with a stripe projector consisting of a thin light source (xenon tube and slit) on the axis of a turntable, and a binary mask conforming to a cylinder coaxial with this. The mask has alternate opaque and transparent stripes parallel to the axis. It forms a sequence in which each subsequence of given length n (8 here) is different. No lens is used in the projector, deliberately smoothing the resulting illumination in a shadowing process. In operation, the turntable rotates, and images are taken at uniform angular intervals for several consecutive frames. In the consecutive frames, a given pixel records samples of the brightness of a fixed surface point. The vector consisting of those samples, when normalized, is unique to the place in the sequence from which it came, thus enabling the computation, via a fast indexing process, of the 3D position of the surface point. The code is similar to a DeBruijn sequence, but modified to reduce range error. Several types of calibration and error compensation were used to produce an accurate range image.

Published in:

3D Data Processing, Visualization, and Transmission, Third International Symposium on

Date of Conference:

14-16 June 2006

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