Paper Info
Title
Robot-mounted 500-fps 3-D shape measurement using motion-compensated coded structured light method
Abstract
A high-frame-rate (HFR) structured light vision is developed for observing moving three-dimensional (3-D) scenes; it is mountable on the end of a robot manipulator for 3-D shape inspection. Our system can simultaneously obtain depth images of 512×512 pixels at 500 fps by implementing a motion-compensated coded structured light method on an HFR camera-projector platform; the 3-D computation is accelerated using the parallel processing on a GPU board. This method can remarkably reduce the synchronization errors in the structured-light-based measurement, which are encountered in the projection of multiple light patterns with different timings; such synchronization errors become larger as the ego-motion of a manipulator becomes larger. We demonstrate the performance of our system by showing several 3-D shape measurement results when the 3-D module is mounted on a fast-moving 6-DOF manipulator as a sensing head.
Year
DOI
Venue
2014
10.1109/ROBIO.2014.7090628
ROBIO
Keywords
Field
DocType
3d shape inspection,coded structured light method,parallel processing,motion compensation,moving three-dimensional scenes,3d module,structured-light-based measurement,synchronization errors,hfr camera-projector platform,graphics processing units,robot-mounted 500-fps 3d shape measurement,control engineering computing,3d scenes,6-dof manipulator,shape measurement,ego-motion,3d computation,manipulators,high-frame-rate structured light vision,synchronization error reduction,gpu board,hfr structured light vision,robot vision,robot manipulator,shape,synchronization
Computer vision,Synchronization,Structured light,Computer graphics (images),Computer science,Motion compensation,Parallel processing,Artificial intelligence,Pixel,Robot,D-Shape,Computation
Conference
Citations 
PageRank 
References 
1
0.36
6
Authors
6
Name
Order
Citations
PageRank
Jun Chen1122.48
Yongjiu Liu250.80
Qingyi Gu315322.13
Tadayoshi Aoyama46928.58
Takeshi Takaki522238.04
Idaku Ishii635564.37