NDLI: 3D Vision System for Robot Interaction in Moving Scenes

Content Provider	IEEE Xplore Digital Library
Author	Vazquez, A.S. Adan, A. Molina, F.
Copyright Year	2007
Description	Author affiliation: Univ. of Castilla-La Mancha, Albacete (Vazquez, A.S.; Adan, A.; Molina, F.)
Abstract	In this paper we present a structured light projection system based on the projection of a color coded hexagonal array that is able to obtain range images in moving conditions. Unordered codes are allowed in the color pattern which implies that the mean Hamming distance between contiguous codewords of the pattern increases. As a result, code loss circumstances can be efficiently handled and computational cost in the pattern-image code correspondence phase is highly reduced. This range vision system has been integrated in a robotic cell so a 6 DOF manipulator robot can interact on a set of selected points of the moving scene. The experimentation has been performed on medium resolution range images and for slow controlled movements giving promising results.
Starting Page	1
Ending Page	6
File Size	5855805
Page Count	6
File Format	PDF
ISBN	9781424408290
DOI	10.1109/WISP.2007.4447630
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-03
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer vision Image resolution Hamming distance Robot vision systems range images Manipulators Optical arrays Machine vision structured light sensor Layout feature extraction robot interaction Computational efficiency Colored noise
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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