A Structured Light RGB-D Camera System for Accurate Depth Measurement. (1st November 2018)

• Record Type: Journal Article
• Authors: Tran, Van Luan; Lin, Huei-Yung
• Other Names: Liu Wei Guest Editor.
• Is Part Of: International journal of optics. Volume 2018(2018)
• Publication Date: 2018-11-01
• Subjects: Optics -- Periodicals; Optics; Periodicals; 535
• DOI: 10.1155/2018/8659847
• Languages: English
• ISSNs: 1687-9392

Abstract

Abstract : The ability to reliably measure the depth of the object surface is very important in a range of high-value industries. With the development of 3D vision techniques, RGB-D cameras have been widely used to perform the 6D pose estimation of target objects for a robotic manipulator. Many applications require accurate shape measurements of the objects for 3D template matching. In this work, we develop an RGB-D camera based on the structured light technique with gray-code coding. The intrinsic and extrinsic parameters of the camera system are determined by a calibration process. 3D reconstruction of the object surface is based on the ray triangulation principle. We construct an RGB-D sensing system with an industrial camera and a digital light projector. In the experiments, real-world objects are used to test the feasibility of the proposed technique. The evaluation carried out using planar objects has demonstrated the accuracy of our RGB-D depth measurement system.