A Structured Light RGB-D Camera System for Accurate Depth Measurement
The ability to reliably measure the depth of the object surface is very important in a range of high-value industries. With the development of 3D vision techniques, RGB-D cameras have been widely used to perform the 6D pose estimation of target objects for a robotic manipulator. Many applications re...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2018-01-01
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| Series: | International Journal of Optics |
| Online Access: | http://dx.doi.org/10.1155/2018/8659847 |
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| Summary: | The ability to reliably measure the depth of the object surface is very important in a range of high-value industries. With the development of 3D vision techniques, RGB-D cameras have been widely used to perform the 6D pose estimation of target objects for a robotic manipulator. Many applications require accurate shape measurements of the objects for 3D template matching. In this work, we develop an RGB-D camera based on the structured light technique with gray-code coding. The intrinsic and extrinsic parameters of the camera system are determined by a calibration process. 3D reconstruction of the object surface is based on the ray triangulation principle. We construct an RGB-D sensing system with an industrial camera and a digital light projector. In the experiments, real-world objects are used to test the feasibility of the proposed technique. The evaluation carried out using planar objects has demonstrated the accuracy of our RGB-D depth measurement system. |
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| ISSN: | 1687-9384 1687-9392 |