Real-time 3D range sensor

摘要

Abstract: echnique for making high speed measurements of complete scenes of three-dimensional objects is described. The sensor has several advantages over Moire, time-of-flight and conventional structured-light systems including a data acquisition time of 0.1 milliseconds, a processing time of 100 milliseconds and a measurement standard deviation of 1/2000 of the field of view. It is robust to ambient lighting, able to measure across surface discontinuities, and capable of measuring moving objects. The technique uses a fan of laser planes to illuminate the scene and two solid-state video cameras to measure the stripes in the scene. The methods for disambiguating and triangulating the stripes into three-dimensional coordinates are given and an example reconstructed scene from a prototype sensor is presented.!5