Three-dimensional vision: requirements and applications in a space environment

摘要

Various approaches to three dimensional vision are reviewed including passive and active techniques. Emphasis is on the redundant 3-D vision system designed for CIRSSE which uses a controllable subset of five cameras programmable structured light patterns and sophisticated calibration routines. The purpose is the design and development of a 3-D vision system which can evaluate the space environment and correlate complete or incomplete object views to CAD-based models. The application stresses real-time operation human supervisory intervention and using 3-D vision to enhance the performance of cooperating robotic arms. Two techniques of estimating the location of a point using 3-D vision are discussed as is a computer simulation study which sought to optimize the positioning of multiple cameras to minimize noise perturbations caused by various forms of vibration. Finally the unique challenges of multiple camera CAD-based 3-D vision in the space environment and criteria for selecting the instantaneous subset of cameras are discussed.