スリット像のぼけの計測と視差計測とを組み合わせたマルチスリットレーザプロジェクタを用いた小型距離画像センサの構築

抄録

In this paper, development of a compact and light weight range image sensor is presented. The sensor is designed for installing on a robot hand to help it sense the target or avoid the obstacle. The sensor we present can obtain 3D distance information at a range of 50mm - 300mm, which is simply made by a USB video device class camera and a multi-slit laser projector. The improvement over the previous sensor is a newly added method of the range measurement. The new sensor can measure the distance by using both disparity and blur. A method of Gaussian curve fitting to quantify the image blur is presented to obtain the range image at a distance closer than 100mm.