Third-eye guided telemeter for high-precision positional measurement

Giuseppe Pettiti; Aldo Cumani; Paolo Grattoni; Antonio Guiducci; Fabrizio Pollastri; Bruno Rebaglia

doi:10.1117/12.167512

1 February 1994 Third-eye guided telemeter for high-precision positional measurement

Giuseppe Pettiti, Aldo Cumani, Paolo Grattoni, Antonio Guiducci, Fabrizio Pollastri, Bruno Rebaglia

Proceedings Volume 2058, Mobile Robots VIII; (1994) https://doi.org/10.1117/12.167512
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

The telemeter is a high precision positional tracking device that works by triangulation over the angular measurements provided by two or more telegoniometers. Each of the latter is composed of a TV camera with a teleobjective, looking at the working space through a pair of orthogonal mirrors. A problem with this kind of structure is the automation of the initial pointing of the telegoniometers on the target. We propose to add a third camera with a wide- angle lens framing the whole workspace to provide the line of sight on which the target must lie. In this work we present this `three-eyes' structure and discuss its calibration, as well as the problems related to the strategy for scanning the line of sight and for detecting the tracking condition. Two possible applications to robot qualification and autonomous navigation also are presented.

Citation Download Citation

Giuseppe Pettiti, Aldo Cumani, Paolo Grattoni, Antonio Guiducci, Fabrizio Pollastri, and Bruno Rebaglia "Third-eye guided telemeter for high-precision positional measurement", Proc. SPIE 2058, Mobile Robots VIII, (1 February 1994); https://doi.org/10.1117/12.167512

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