By Shengyong Chen, Y. F. Li, Jianwei Zhang, Wanliang Wang
This exact publication explores the $64000 concerns in learning for energetic visible belief. The book’s 11 chapters draw on contemporary vital paintings in robotic imaginative and prescient over ten years, fairly within the use of latest strategies. Implementation examples are supplied with theoretical equipment for trying out in a true robotic process. With those optimum sensor making plans innovations, this booklet will provide the robotic imaginative and prescient procedure the adaptability wanted in lots of useful functions.
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Additional info for Active Sensor Planning for Multiview Vision Tasks
2004). 3D measurement by structured lighting is based on the expectation of precise detection of the projected light patterns in the acquired images. The 3D coordinates can be triangulated directly as soon as the sensor geometry has been calibrated and the light pattern is located in the image. For such systems as shown in Fig. 14, a Coded Light Approach is most suitable for space-encoding and position detection when using a switchable LCD or mask. It is also an alternative approach for avoiding the scanning of the light and it requires only a small number of images to obtain a full depth-image.
To make the vision system flexible for perceiving objects at varying distances and sizes, the relative position between the projector and the camera needs to be changeable, leading to reconfiguration of the system. A self-recalibration method for such a reconfigurable system needs to be developed to determine the relative matrix between the projector and the camera, which is mainly concerned in this chapter. We thus presented a work in automatic calibration of active vision systems via a single view without using any special calibration device or target.
The projection angle of an illumination stripe is (illustrated in Fig. 30) where xp = xp(i) is the stripe location on the projector’s LCD. The x-coordinate value of the i th stripe, xp (i), can be determined by the light coding method. The stripe coordinate xp and the projection angle Dpi are illustrated in Figs. 22. 34 Chapter 2 Active Vision Sensors illumination Dp(i) lens vp LCD/DMD xp(i) Fig. 22. 32) is the relationship between the stripe locations on the camera and the projector and is termed the geometrical constraint.