结构光三维视觉及其在工业中的应用-张广军

:1995-10-1331100083199612226JournalofBeijingUniversityofAeronauticsandAstronauticsDecember1996Vol.22No.6张广军　　田　叙()介绍了结构光三维视觉原理及实现方法,讨论了结构光三维视觉在工业视觉检测和机器人自主导引中的应用,所列实例体现了结构光视觉应用的最新研究成果.机器人;机器人视觉;检测;三维;导引;结构光;白车身TP242.6,,.,,.(Z),.,.,,.,.1.1,()CCD,CCD.,CCD().,.().,(),,.CCD,,,Y=f1(r,c)(1)Z=f2(r,c)(2)(r,c);YZ.(1)(2),.,YFY;ZFZ.[14]:.1.,,,.(stripedlight)(sectioninglight).,(),,.,,.,,,,,.,1.,,.,,3-D,.,.,,.,,.,,.2-DFFTFourier,..2-DFourier,D.D,.,[5,6].2:.,...2.1,.6516:,,,.,.,,..,,,.2,.,..(body-in-white)3220s.,,.2,.,,,.,,,,.I/O.,.,,,65222,.,,.:.,.,.2.2,..1),,.,.,,.,.,,.,,,.,:,,,,.,.2).,.3V,.,,.,,.3V.,:PASS,MetaMachinesLtdMetaTorch200500.PASS,(),4CCD().,,,20ms.,.,..,,,,.6536:3,,.,,,,..,.1RiouxM.Laserrange-finderbasedonsynchronisedscanners.RobotSensors,1986,43(5):1751902VandopER,RegtienPL.Volumetricsegmentationofrangeimagesforprintedcircuitboardinspection.In:FrederickYW,ShenghuaYe.ProceedingsofSPIEIntConfonAutomatedOpticalInspectionforIndustry.Washington:SPIE,1966.6976943YuXiaoyang,ZhangJian,WuLiying,etal.Laserscanningdeviceusedinspaceencodingrangefinder.In:FrederickYW,ShenghuaYe.ProceedingsofSPIEIntConfonAutomatedOpticalInspectionforIndustry.Washington:SPIE,1996.4904954JalkioJA.Threedimensionalinspectionusingmultistripestructuredlight.OptEng,1985,24(6):9669745GiovannaS,LucaB,UmbertoM,etal.Anoveladaptivesystemfor3-Dopticalprofilometryusingaliquidcrystallightprojector.IEEETransonInstrumMeas,1994,43(4):5585656GroskyWI,TamburinoLA.Aunifiedapproachtothelinearcameracalibrationproblem.IEEETransonPAMI,1990,12(3):663671STRUCTUREDLIGHT3-DVISIONANDITSINDUSTRYAPPLICATIONZhangGuangjunTianXu(BeijingUniversityofAeronauticsandAstronautics,Dept.ofAutomaticControl)ABSTRACTTheprincipleofstructuredlight3-Dvisionisintroduced,anditspracticalmethodsaregiveninthispaper.Theapplicationsofstructuredlight3-Dvisiontoindustrialvisioninspec-tionandtovisionguidanceforrobotsarediscussed.Theexamplesinapplicationlistedinthispapershowthatthisresearchhasreachedthemostup-to-dateachievementsinthisfield.Keywordsrobots;robotvision;measuring;three-dimension;guidance;structuredlight;white-in-body65422