By Shengyong Chen, Y. F. Li, Jianwei Zhang, Wanliang Wang
This designated booklet explores the $64000 matters in learning for energetic visible notion. The book’s 11 chapters draw on contemporary very important paintings in robotic imaginative and prescient over ten years, relatively within the use of latest recommendations. Implementation examples are supplied with theoretical equipment for trying out in a true robotic method. With those optimum sensor making plans innovations, this booklet will supply the robotic imaginative and prescient process the adaptability wanted in lots of functional purposes.
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Extra resources for Active Sensor Planning for Multiview Vision Tasks
16. The measurement principle 26 Chapter 2 Active Vision Sensors object [Xc Yc Zc], [Xp Yp Zp] light projection Zc [xp yp] Zp [xc yc] Xp projector Yc camera X Yp c Fig. 17. 17 illustrates the measurement principle in the stripe light system and Fig. 18 illustrates the representation of point coordinates. 11) Similarly, the projector is regarded as a pseudo-camera in that it casts an image rather than detects it. 14) in which RT, RD, RE, and T are 4u4 matrices standing for 3-axis rotation and translation.
Setup of stripe light vision system The projector is controllable by a computer to select a specific light pattern. All the patterns are pre-designed with light and dark stripes and switchable during the operation. 2 Coding Method In structured light systems, the light coding method is used as a technique to solve the correspondence problem (Batlle et al. 1998, Salvi et al. 2004). 3D measurement by structured lighting is based on the expectation of precise detection of the projected light patterns in the acquired images.
21) Since the system considered here has two DOFs, only two of the six parameters are variable while the other four are constants which can be known from the initial calibration. If the X-Z plane is not perpendicular to the plane of the projected laser sheet, its angle ) can also be identified at this stage. As the angle T0 =(90o –)) is small and the image can be rectified by rotating the corresponding angle accordingly during recalibration, it can be assumed that T0 = 0. The displacement in the y-direction between the camera center and the projector center, Y0, and the rotation angle E0 are also small in practice.
Active Sensor Planning for Multiview Vision Tasks by Shengyong Chen, Y. F. Li, Jianwei Zhang, Wanliang Wang