High performance stand-alone structured light 3D camera for smart manipulators

摘要

This paper presents a structured light stand-alone 3D camera comprised of high speed embedded projector, high frame rate machine vision camera and on-board computer. Hierarchical Orthogonal Coding (HOC) is used for structured light patterns and Boundary Inheritance Codec [3] is used for decoding the HOC patterns. The proposed solution provides highly accurate 3D point cloud with less weight and smaller dimensions as compared to other. Camera provides direct 3D data without the use of any PC or laptop. Camera can achieve a scan speed of 3 Hz and provides an accuracy of 0.2 mm at 75 cm. With small baseline and compact size, 3D camera can be used with smart manipulator and other robotics applications.