Department of Mechanical Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan.
Department of System Cybernetics, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan.
Sensors (Basel). 2019 Apr 1;19(7):1572. doi: 10.3390/s19071572.
High-speed recognition of the shape of a target object is indispensable for robots to perform various kinds of dexterous tasks in real time. In this paper, we propose a high-speed 3-D sensing system with active target-tracking. The system consists of a high-speed camera head and a high-speed projector, which are mounted on a two-axis active vision system. By measuring a projected coded pattern, 3-D measurement at a rate of 500 fps was achieved. The measurement range was increased as a result of the active tracking, and the shape of the target was accurately observed even when it moved quickly. In addition, to obtain the position and orientation of the target, 500 fps real-time model matching was achieved.
高速识别目标物体的形状对于机器人实时执行各种灵巧任务是必不可少的。在本文中，我们提出了一种具有主动目标跟踪功能的高速 3D 感测系统。该系统由高速摄像机头和高速投影仪组成，安装在双轴主动视觉系统上。通过测量投影的编码图案，实现了 500 fps 的 3D 测量速度。由于主动跟踪，测量范围得以扩大，即使目标快速移动，也能准确观察到其形状。此外，为了获得目标的位置和方向，实现了 500 fps 的实时模型匹配。
