An active 3D robot camera for home environment

This research features a novel approach that efficiently detects depth edges in real world scenes. Depth edges play a very important role in many computer vision problems because they represent object contours. We strategically project structured light and exploit distortion of light pattern in the structured light image along depth discontinuities to reliably detect depth edges. Distortion along depth discontinuities may not occur or be large enough to detect depending on the distance from the camera or projector. For practical application of the proposed approach, we have presented methods that guarantee the occurrence of the distortion along depth discontinuities for a continuous range of object location. Experimental results show that the proposed method accurately detect depth edges of human hand and body shapes as well as general objects.

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A real-time 3D IR camera based on hierarchical orthogonal coding

Lee

Choi

et al.

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

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We present a real-time 3D camera based on IR (infrared) structured light suitable for robots working in home environment. First, we implemented a HOC (Hierarchical Orthogonal Coding) based FPGA board. The HOC gives robust depth images because the signal separation coding provides not only the separation of overlapped codes, but also a robust decision on pixel correspondence with error correction. The FPGA module can handle high computational cost of HOC based signal separation coding. Second, we implemented a compact optic system of the camera to project and receive IR structured light. The invisible IR pattern light provides users inconvenient in the home environment. Various objects and workspaces which has continuous and/or non-continuous surface are tested and, sensitivity to illumination change and processing time are analyzed. The experiment results show the robust performance for surface smoothness, color, and materials of objects used in home environment. The proposed approach opens a greater feasibility of applying structured light based depth imaging to a 3D modeling of cluttered workspace for home service robots.

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An active 3D robot camera for home environment

Cited by 3 publications

References 5 publications

3D Measurement Technology by Structured Light Using Stripe-Edge-Based Gray Code

3D Measurement Technology by Structured Light Using Stripe-Edge-Based Gray Code

Structured Light Based Depth Edge Detection for Object Shape Recovery

A real-time 3D IR camera based on hierarchical orthogonal coding

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