Arobotmustperceivethethree-dimensionalworldifitistobeeffective there. Yet recovering 3-D information from projected images is difficult, and still remains thesubjectofbasic research. Alternatively, onecan use sensorsthatcanprovidethree-dimensionalrangeinformationdirectly. The technique ofprojecting light-stripesstartedto be used in industrialobject recognition systems asearly asthe 1970s,andtime-of-flight laser-scanning range finders became available for outdoor mobile robotnavigation in the mid-eighties. Once range data are obtained, a vision system must still describe the scene in terms of 3-D primitives such as edges, surfaces, and volumes, and recognize objeCts of interest. Today, the art of sensing, extractingfeatures, and recognizing objectsbymeans ofthree-dimensional rangedataisoneofthemostexcitingresearchareasincomputervision. Three-Dimensional Machine Vision is a collection of papers dealing withthree-dimensionalrangedata. Theauthorsarepioneeringresearchers: some are founders and others are bringingnew excitements in thefield. I have tried to select milestone papers, and my goalhas beento make this bookareferenceworkforresearchersinthree-dimensionalvision.
The book is organized into four parts: 3-D Sensors, 3-D Feature Extractions,ObjectRecognitionAlgorithms,andSystemsandApplications. Part I includes four papers which describe the development of unique, capable 3-D range sensors, as well as discussions of optical, geometrical, electronic, and computational issues. Mundy and Porter describe asensor systembasedonstructuredilluminationforinspectingmetalliccastings. In order to achieve high-speed data acquisition, it uses multiple lightstripes withwavelength multiplexing. Case, Jalkio,andKim alsopresentamulti- stripe system and discuss various design issues in range sensing by triangulation. ThenumericalstereocameradevelopedbyAltschuler, Bae, Altschuler, Dijak, Tamburino, and Woolford projects space-coded grid patterns which are generated by an electro-optical programmable spatial viii PREFACE light modulator. Kanade and Fuhrman present a proximity sensor using multipleLEDswhich areconically arranged. Itcan measurebothdistance andorientationofanobject'ssurface.
I: 3-D Sensors.- A Three-Dimensional Sensor Based on Structured Light.- 3-D Vision System Analysis and Design.- Robot Vision by Encoded Light Beams.- A Noncontact Optical Proximity Sensor for Measuring Surface Shape.- II: 3-D Feature Extractions.- Toward a Surface Primal Sketch.- 3-D Object Representation from Range Data Using Intrinsic Surface Properties.- Use of Vertex-Type Knowledge for Range Data Analysis.- III: 3-D Recognition Algorithms.- The Representation, Recognition, and Positioning of 3-D Shapes from Range Data.- An Object Recognition System Using Three-Dimensional Information.- 3DPO: A Three-Dimensional Part Orientation System.- Recognition and Localization of Overlapping Parts From Sparse Data.- IV: Systems And Applications.- Producing Space Shuttle Tiles with a 3-D Non-Contact Measurement System.- Three-Dimensional Vision Systems Using the Structured-Light Method for Inspecting Solder Joints and Assembly Robots.- A Semantic-Free Approach to 3-D Robot Color Vision.
Series: The Springer International Series in Engineering and Computer Science
Number Of Pages: 610
Published: 5th March 1999
Publisher: Kluwer Academic Publishers
Country of Publication: US
Dimensions (cm): 23.5 x 15.5
Weight (kg): 1.17