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Open AccessArticle

Development of an Active High-Speed 3-D Vision System

Department of Mechanical Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan
Department of System Cybernetics, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan
Author to whom correspondence should be addressed.
This paper is an extended version of the conference paper: High-speed 3-D measurement of a moving object with visual servo. In Proceedings of 2016 IEEE/SICE International Symposium on System Integration (SII), Sapporo, Japan, 13–15 December 2016 and High-speed orientation measurement of a moving object with patterned light projection and model matching. In Proceedings of 2018 IEEE Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, 12–15 December 2018.
Sensors 2019, 19(7), 1572;
Received: 1 February 2019 / Revised: 15 March 2019 / Accepted: 22 March 2019 / Published: 1 April 2019
(This article belongs to the Special Issue Depth Sensors and 3D Vision)
High-speed recognition of the shape of a target object is indispensable for robots to perform various kinds of dexterous tasks in real time. In this paper, we propose a high-speed 3-D sensing system with active target-tracking. The system consists of a high-speed camera head and a high-speed projector, which are mounted on a two-axis active vision system. By measuring a projected coded pattern, 3-D measurement at a rate of 500 fps was achieved. The measurement range was increased as a result of the active tracking, and the shape of the target was accurately observed even when it moved quickly. In addition, to obtain the position and orientation of the target, 500 fps real-time model matching was achieved. View Full-Text
Keywords: high-speed vision; spatial coded pattern projection; depth image sensor; active tracking high-speed vision; spatial coded pattern projection; depth image sensor; active tracking
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Namiki, A.; Shimada, K.; Kin, Y.; Ishii, I. Development of an Active High-Speed 3-D Vision System. Sensors 2019, 19, 1572.

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