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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| Format: | Article |
| Language: | English |
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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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| _version_ | 1832567898841808896 |
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| author | Van Luan Tran Huei-Yung Lin |
| author_facet | Van Luan Tran Huei-Yung Lin |
| author_sort | Van Luan Tran |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-cffdbbf4a40e45a0918a9b76cdf52478 |
| institution | Kabale University |
| issn | 1687-9384 1687-9392 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Optics |
| spelling | doaj-art-cffdbbf4a40e45a0918a9b76cdf524782025-02-03T01:00:23ZengWileyInternational Journal of Optics1687-93841687-93922018-01-01201810.1155/2018/86598478659847A Structured Light RGB-D Camera System for Accurate Depth MeasurementVan Luan Tran0Huei-Yung Lin1Department of Electrical Engineering, National Chung Cheng University, 168 University Rd., Chiayi 621, TaiwanDepartment of Electrical Engineering, National Chung Cheng University, 168 University Rd., Chiayi 621, TaiwanThe 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.http://dx.doi.org/10.1155/2018/8659847 |
| spellingShingle | Van Luan Tran Huei-Yung Lin A Structured Light RGB-D Camera System for Accurate Depth Measurement International Journal of Optics |
| title | A Structured Light RGB-D Camera System for Accurate Depth Measurement |
| title_full | A Structured Light RGB-D Camera System for Accurate Depth Measurement |
| title_fullStr | A Structured Light RGB-D Camera System for Accurate Depth Measurement |
| title_full_unstemmed | A Structured Light RGB-D Camera System for Accurate Depth Measurement |
| title_short | A Structured Light RGB-D Camera System for Accurate Depth Measurement |
| title_sort | structured light rgb d camera system for accurate depth measurement |
| url | http://dx.doi.org/10.1155/2018/8659847 |
| work_keys_str_mv | AT vanluantran astructuredlightrgbdcamerasystemforaccuratedepthmeasurement AT hueiyunglin astructuredlightrgbdcamerasystemforaccuratedepthmeasurement AT vanluantran structuredlightrgbdcamerasystemforaccuratedepthmeasurement AT hueiyunglin structuredlightrgbdcamerasystemforaccuratedepthmeasurement |