2010 IEEE International Conference on Robotics and Automation :: Anchorage, Alaska, USA :: May 3 - 8, 2010

ICRA'10 Paper Abstract


Paper TuA4.6

Konolige, Kurt (Willow Garage)

Projected Texture Stereo

Scheduled for presentation during the Regular Sessions "Range Sensing" (TuA4), Tuesday, May 4, 2010, 09:45−10:00, Egan Center Lower Level Room 1

2010 IEEE International Conference on Robotics and Automation, May 3-8, 2010, Anchorage, Alaska, USA

This information is tentative and subject to change. Compiled on June 20, 2018

Keywords Range Sensing, Computer Vision for Robotics and Automation


Passive stereo vision is widely used as a range sensing technology in robots, but suffers from dropouts: areas of low texture where stereo matching fails. By supplementing a stereo system with a strong texture projector, dropouts can be eliminated or reduced. In this paper we develop a practical stereo projector system, first by analyzing the effects of system blur and phase noise on the optimal projection pattern, and then by designing a compact rojector for robotic applications. The system has been implemented and used in a number of applications.



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