Hartrumpf M, Munser R
Appl Opt. 1997 May 1;36(13):2923-8. doi: 10.1364/ao.36.002923.
This structured light projection technique has been developed for the inspection of holes and tubes. In contrast to others, the triangulation base is parallel to the line of sight. The features of systems using this measurement method are the following: high accuracy in the wide-angle region, minimal diameter, symmetry of the measurements to the line of sight, and simplified coordinate calculation. The prototype application is the optics of the sewer pipe inspection robot KARO. Application fields are medical or technical wide-angle inspection systems (e.g., endoscopes).
这种结构光投影技术是为检查孔和管而开发的。与其他技术相比，三角测量基线与视线平行。使用这种测量方法的系统具有以下特点：在广角区域精度高、最小直径、测量相对于视线对称以及坐标计算简化。原型应用是下水道管道检测机器人KARO的光学系统。应用领域是医疗或技术广角检测系统（如内窥镜）。
