Projected texture stereo

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. This paper develops a practical stereo projector system, first by finding good patterns to project in the ideal case, then by analyzing the effects of system blur and phase noise on these patterns, and finally by designing a compact projector that is capable of good performance out to 3m in indoor scenes. The system has been implemented and has excellent depth precision and resolution, especially in the range out to 1. 5m.

Authors

• Kurt Konolige

Keywords

• Layout
• Surface texture
• Cameras
• Simulated annealing
• Pattern matching
• Robotics and automation
• USA Councils
• Stereo vision
• Pattern analysis
• Surface reconstruction
• Practical Systems
• Projector
• Phase Noise
• Stereo Matching
• Blur Effect
• Minimum Distance
• Image Pixels
• Scoring Function
• Focal Length
• Block Size
• Ambient Light
• Structured Illumination
• Hamming Distance
• Matching Score
• Search Range
• Sum Of Squared Differences
• Stereo Camera
• Normalized Cross-correlation
• Projection Patterns
• Ideal Pattern
• Block Matching
• Sub-pixel Resolution
• Stereo Pairs
• Target Plane