Trinocular active range-sensing
Blake, A.
McCowen, D.
Lo, H.R.
Lindsey, P.J.
Dept. of Eng. Sci., Oxford Univ.;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: May 1993
Volume: 15,
Issue: 5
On page(s): 477-483
ISSN: 0162-8828
References Cited: 20
CODEN: ITPIDJ
INSPEC Accession Number: 4443290
Digital Object Identifier: 10.1109/34.211467
Current Version Published: 2002-08-06
Abstract
Trinocular active devices have the advantage of freedom from
mechanical scanning and rapid image capture compared with more
conventional active designs based on scanning laser stripes. Their
efficient operation relies, however, on a good solution to the
correspondence problem. This requires careful geometric design to take
account of epipolar geometry and thorough modeling of image-measurement
error. A design that, involves setting up the projector-camera geometry
to be degenerate-so that depth computation is ill-conditioned-and then
backing off a little is presented. This is called near-degenerate
epipolar alignment. The result is that unambiguous stereo matching can,
in principle, be guaranteed within a given working volume. This is in
marked contrast with passive stereo in which ambiguity cannot be
guaranteed, merely minimized statistically. The principles have proved
to work well in laboratory tests, achieving unambiguous operation over a
working volume of a 50-mm cube with a depth resolution of around 0.2 mm
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