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The triangulation method is the basic method for robots to exactly locate points in unknown environments. But the traditional triangulation method has the drawback that its solution is locally optimal. This paper devise a novel solution to triangulation in omnidirectional vision under the L∞-norm, which provides a theoretical guarantee of global optimality and a wide field of view. We give three different...
This paper presents the simulation of a three-dimensional laser range finder based on a two-dimensional laser scanner and different moving units. We examine and describe two methods differing in the way the laser range finder is mounted. In addition, a Pan-Tilt-Unit and a robot manipulator are used as moving platforms. The qualities of the laser scanner and the originating point density, which are...
This paper presents a modular software architecture based on a stereo camera system that makes real-time 3D perception, interaction and navigation for small humanoid robots possible. The hardware-independent architecture can be used for several purposes, like 3D visualisation, object recognition, self-localization, collision avoidance, etc. First of all, the intrinsic calibration parameters of the...
Structured light vision systems have been successfully used for accurate measurement of 3D surfaces in computer vision. However, their applications are mainly limited to scanning stationary objects so far since tens of images have to be captured for recovering one 3D scene. This paper presents an idea for real-time acquisition of 3D surface data by a specially coded vision system. To achieve 3D measurement...
This paper presents a method of grid-pattern design for a 3D vision sensor, which is based on the principles of color-encoded structured light, to improve the reconstruction efficiency. For a live scene, since the 3D measurement is desired to only capture a single image, this paper uses a color projector which can be controlled by a computer to generate arbitrary desired color patterns. A problem...
This paper finds a method for computing the best-focused location from an image and using it as a dimensional cue for acquisition of a 3D scene surface. In some situations in 3D vision, an object cannot be reconstructed into a 3D model with metric dimensions. Rather, it can only be reconstructed into a 3D structure up to a similarity transformation. To upgrade the 3D model from a similarity transformation...
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