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A versatile PC-based range finding system

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3 Author(s)
Saint-Marc, P. ; Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA ; Jezouin, J.L. ; Medioni, G.

The authors present an active triangulation-based range finding system composed of an independent laser system generating a sheet of light projected on the object to be measured, which is placed on a linear or a rotary table driven by a personal computer. This computer includes a video digitizer board to which two cameras, looking at the scene from both sides of the sheet of light, are connected. Besides its low cost, this system has several advantages over similar systems. First of all, two cameras are used to limit the occlusion problem, and a method is proposed to integrate range data obtained from these cameras into a single range image. The calibration of each camera is very simple, provides subpixel accuracy, and is performed only once as the laser or the camera does not move. The data acquisition uses an interpolation technique that produces very accurate depth measurements. The system also provides intensity data in registration with the range data. The application of all these techniques is illustrated by showing numerous examples of the range and intensity data acquisition from various complex objects

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:7 ,  Issue: 2 )

Date of Publication:

Apr 1991

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