High Speed 3D IR Scanner for Home Service Robots (Image/Vision Processing, <Special Section> Multidimensional Signal Processing and Its Application)
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概要
- 論文の詳細を見る
This paper introduces the hardware platform of the structured light processing based on depth imaging to perform a 3D modeling of cluttered workspace for home service robots. We have discovered that the degradation of precision and robustness comes mainly from the overlapping of multiple codes in the signal received at a camera pixel. Considering the criticality of separating the overlapped codes to precision and robustness, we proposed a novel signal separation code, referred to here as "Hierarchically Orthogonal Code (HOC)," for depth imaging. The proposed HOC algorithm was implemented by using hardware platform which applies the Xilinx XC2V6000 FPGA to perform a real time 3D modeling and the invisible IR (Infrared) pattern lights to eliminate any inconveniences for the home environment. The experimental results have shown that the proposed HOC algorithm significantly enhances the robustness and precision in depth imaging, compared to the best known conventional approaches. Furthermore, after we processed the HOC algorithm implemented on our hardware platform, the results showed that it required 34ms of time to generate one 3D image. This processing time is about 24 times faster than the same implementation of HOC algorithm using software, and the real-time processing is realized.
- 社団法人電子情報通信学会の論文
- 2006-03-01
著者
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Lee Sukhan
The School Of Information And Communication Sungkyunkwan University
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Cho Jundong
The School Of Information And Communication Sungkyunkwan University
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Choi Jongmoo
The School Of Information And Communication Sungkyunkwan University
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RYU Jehyuk
the School of Information and Communication, SungKyunKwan University
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YUN Sungho
the School of Information and Communication, SungKyunKwan University
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SONG Kyungjin
the School of Information and Communication, SungKyunKwan University
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Ryu Jehyuk
The School Of Information And Communication Sungkyunkwan University
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Yun Sungho
The School Of Information And Communication Sungkyunkwan University
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Song Kyungjin
The School Of Information And Communication Sungkyunkwan University