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Laser electro-optic system for rapid three-dimensional /3-D/ topographic mapping of surfacesIt is pointed out that the generic utility of a robot in a factory/assembly environment could be substantially enhanced by providing a vision capability to the robot. A standard videocamera for robot vision provides a two-dimensional image which contains insufficient information for a detailed three-dimensional reconstruction of an object. Approaches which supply the additional information needed for the three-dimensional mapping of objects with complex surface shapes are briefly considered and a description is presented of a laser-based system which can provide three-dimensional vision to a robot. The system consists of a laser beam array generator, an optical image recorder, and software for controlling the required operations. The projection of a laser beam array onto a surface produces a dot pattern image which is viewed from one or more suitable perspectives. Attention is given to the mathematical method employed, the space coding technique, the approaches used for obtaining the transformation parameters, the optics for laser beam array generation, the hardware for beam array coding, and aspects of image acquisition.
Document ID
19820034477
Document Type
Reprint (Version printed in journal)
Authors
Altschuler, M. D. (Pennsylvania, University Hospital, Philadelphia, PA, United States)
Altschuler, B. R. (Pennsylvania Univ. Philadelphia, PA, United States)
Taboada, J. (USAF, School of Aerospace Medicine, Brooks AFB TX, United States)
Date Acquired
August 10, 2013
Publication Date
December 1, 1981
Publication Information
Publication: Optical Engineering
Volume: 20
Subject Category
INSTRUMENTATION AND PHOTOGRAPHY
Funding Number(s)
CONTRACT_GRANT: NIH-GM-381
CONTRACT_GRANT: NIH-HL-4664
CONTRACT_GRANT: NIH-HL-18968
Distribution Limits
Public
Copyright
Other