Movable Light-Stripe Sensor For Obtaining Three-Dimensional Coordinate Measurements

Gerald J. Agin; Peter T. Highnam

doi:10.1117/12.934118

23 May 1983 Movable Light-Stripe Sensor For Obtaining Three-Dimensional Coordinate Measurements

Gerald J. Agin, Peter T. Highnam

Proceedings Volume 0360, Robotics and Industrial Inspection; (1983) https://doi.org/10.1117/12.934118
Event: 26th Annual Technical Symposium, 1982, San Diego, United States

Abstract

We describe an apparatus for obtaining three-dimensional surface information that may be used to recognize objects and determine their position and orientation. A lightweight camera and a light-stripe projector using an infrared laser diode are mounted in the hand of a robot manipulator. Image-processing routines locate the stripe in the camera image, and homogeneous coordinate transform techniques are then applied to solve for the three-dimensional coordinates of points illuminated by the stripe. We describe the hardware, the equations for coordinate measurement and the procedures for accurately calibrating the apparatus.

Citation Download Citation

Gerald J. Agin and Peter T. Highnam "Movable Light-Stripe Sensor For Obtaining Three-Dimensional Coordinate Measurements", Proc. SPIE 0360, Robotics and Industrial Inspection, (23 May 1983); https://doi.org/10.1117/12.934118

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available