Various approaches to three dimensional vision are reviewed including passive and active techniques. Emphasis is on the redundant 3-D vision system designed for CIRSSE which uses a controllable subset of five cameras, programmable structured light patterns, and sophisticated calibration routines. The purpose is the design and development of a 3-D vision system which can evaluate the space environment and correlate complete or incomplete object views to CAD-based models. The application stresses real-time operation, human supervisory intervention, and using 3-D vision to enhance the performance of cooperating robotic arms. Two techniques of estimating the location of a point using 3-D vision are discussed as is a computer simulation study which sought to optimize the positioning of multiple cameras to minimize noise perturbations caused by various orms of vibration. Finally, the unique challenges of multiple camera CAD-based 3-D vision in the space environment, and criteria for selecting the instantaneous subset of cameras are discussed.
Three dimensional vision - requirements and applications in a space environment
Dreidimensionales Sehen. Anforderungen und Anwendungen in einer Raum-Umgebung
1991
12 Seiten, 1 Bild, 10 Quellen
Aufsatz (Konferenz)
Englisch
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