大论文9.optical range imaging sensors.pdfVIP

Machine Vision and Applications (1988) 1:127-152 Machine Vision and Applications 9 1988Springer-VerlagNew York Inc. Active, Optical Range Imaging Sensors Paul J. Besl Computer Science Department, General Motors Research Laboratories, Warren, Michigan 48090-9055 USA Abstract: Active, optical range imaging sensors collect class. To make comparisons between different sen- three-dimensional coordinate data from object surfaces sors and sensing techniques, a performance figure and can be useful in a wide variety of automation appli- of merit is defined and computed for each represen- cations, including shape acquisition, bin picking, assem- tative sensor if information was available. This bly, inspection, gaging, robot navigation, medical diagno- measure combines image acquisition speed, depth sis, and cartography. They are unique imaging devices in of field, and range accuracy into a single number. that the image data points explicitly represent scene sur- face geometry in a sampled form. At least six different Other application-specific factors, such as sensor optical principles have been used to actively obtain range cost, field of view, and standoff distance are not images: (1) radar, (2) triangulation, (3) moire, (4) holo- compared. graphic interferometry, (5) focusing, and (6) diffraction. No claims are made regarding the completeness In this survey, the relative capabilities of different sen- of this survey, and the i