1 Intelligent Robotics Research Centre (IRRC) Department of Electrical and Computer Systems Engineering Monash University, Australia Visual Perception and Robotic Manipulation Springer Tracts in Advanced Robotics Chapter 3 Chapter 3 Shape Recovery Using Shape Recovery Using Robust Light Striping Robust Light Striping Geoffrey Taylor Lindsay Kleeman
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1 Intelligent Robotics Research Centre (IRRC) Department of Electrical and Computer Systems Engineering Monash University, Australia Visual Perception.
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1
Intelligent Robotics Research Centre (IRRC)
Department of Electrical and Computer Systems Engineering
Monash University, Australia
Visual Perception and Robotic Manipulation
Springer Tracts in Advanced Robotics
Chapter 3Chapter 3
Shape Recovery Using Shape Recovery Using Robust Light StripingRobust Light Striping
Geoffrey Taylor
Lindsay Kleeman
2Taylor and Kleeman, Visual Perception and Robotic Manipulation, Springer Tracts in Advanced Robotics
ContentsContents
• Motivation for stereoscopic stripe ranging.
• Benefits of our scanner.
• Validation/reconstruction framework.
• Image-based calibration technique.
• Experimental results.
• Conclusions and future work.
3Taylor and Kleeman, Visual Perception and Robotic Manipulation, Springer Tracts in Advanced Robotics
MotivationMotivation
• Allow robot to model and locate objects in the environment as first step in manipulation.
• Capture registered colour and depth data to aid intelligent decision making.
4Taylor and Kleeman, Visual Perception and Robotic Manipulation, Springer Tracts in Advanced Robotics
Conventional ScannerConventional Scanner
• Triangulate from two independent measurements: image plane data and laser stripe position.
• Depth image constructed by sweeping stripe.
Camera Image
sweep stripe
Stripe generator
Camera
Scannedobject
B
D
5Taylor and Kleeman, Visual Perception and Robotic Manipulation, Springer Tracts in Advanced Robotics
DifficultiesDifficulties
• Light stripe assumed to be the brightest feature:– Objects specially prepared (matte white paint)