2次元濃淡画像と疎な距離情報の融合による小型ロボットビジョンセンサの開発

抄録

This paper describes a three dimensional vision sensor which fuses a sparse range data obtained by the FG vision sensor and 2-D intensity images by a CCD camera of the sensor.
The range image obtained by the sensor is precise, but coarsely sampled data. Therefore, we cannot recognize a 3-D object densely. On the other hand, we can get features (such as outlines, edge lines, vertices, and so on) from 2-D intensity image, because intensity images are high density data equivalent to the camera resolution. However, we cannot determine their location on 3-D space without some restrictions from only intensity images. To solve this problem, we propose the method that can recognize 3-D Polyheral object precisely and densely by fusing both information obtained from sparse range image and abstracted 2-D image. As a result, this vision sensor is small and light enough to be fitted to a robot hand.