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

ICRA'10 Paper Abstract

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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 November 18, 2017

Keywords Range Sensing, Computer Vision for Robotics and Automation

Abstract

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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