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High-resolution, High-speed, Three-dimensional Video Imaging with Digital Fringe Projection Techniques

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A three-dimensional vision by off-shelf system with multi-cameras.

J Y Luh¹, J A Klaasen

¹Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29631.

IEEE Transactions on Pattern Analysis and Machine Intelligence

|August 27, 2011

Summary

A novel 3D vision system enhances industrial robot safety by rapidly detecting and outlining obstacles using bounding boxes. This system ensures collision avoidance with real-time processing, improving operational reliability.

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Area of Science:

Robotics
Computer Vision
Artificial Intelligence

Background:

Industrial robots require advanced safety features to prevent collisions.
Real-time obstacle detection is crucial for dynamic environments.

Purpose of the Study:

To develop a 3D vision system for on-line collision avoidance in industrial robots.
To ensure accurate and complete obstacle representation for safety.

Main Methods:

Utilized a Machine Intelligence Corporation VS-100 machine vision system for image processing.
Developed custom software on a Digital Equipment Corporation VAX 11/780 Computer for control and object perception.
Implemented a bounding box model for obstacle description to ensure complete envelopment.

Main Results:

The system successfully outputs obstacle locations and bounding descriptions.
Calibrated bounding descriptions completely envelop physical obstacles.
Average response times were under 2 seconds with two cameras and under 4 seconds with three cameras for up to eight objects.

Conclusions:

The developed 3D vision system effectively supports industrial robot collision avoidance.
The bounding box approach provides a computationally efficient and safe obstacle representation.
The system demonstrates real-time performance suitable for on-line industrial applications.