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9 November 1994 Fast 3D object recognition using a combination of color-coded phase-shift principle and color-coded triangulation
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Proceedings Volume 2247, Sensors and Control for Automation; (1994)
Event: Optics for Productivity in Manufacturing, 1994, Frankfurt, Germany
With this paper we would like to present a realistic approach for the combination of two different methods for three-dimensional object recognition, both using structured light triangulation: (1) The color-coded phase-shift method is able to reach a very good spatial resolution. But due to the finite period length of the object illumination the measured range values are ambiguous. (2) Using the color-coded triangulation an unambiguous three- dimensional image can be achieved, but compared to the color-coded phase-shift method, the spatial resolution is poor. Since both methods are able to generate a three-dimensional object description by processing only a single RGB-image, the ranging process may take place in 40 ms. This `real-time' processing of image data remains possible for the desired combination, if color-coded phase-shift method and color-coded triangulation are using the same image, and therefore the same structure of illumination, too. With this paper, the authors would like to present the principle of a combined ranging method as well as the derivation of an optimized illumination structure in order to enable the application of both methods and to achieve the best accuracy for the resulting 3D object description. Since both kinds of algorithms are using the same image, even moving objects can be ranged using a flashlight illumination. Compared to the involved methods we are expecting a better accuracy than the color-coded triangulation and a better reliability than the color-coded phase-shift method. At the same time the image processing can be done in less than 40 ms.
© (1994) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Erhard Schubert, Holger Rath, and Juergen Klicker "Fast 3D object recognition using a combination of color-coded phase-shift principle and color-coded triangulation", Proc. SPIE 2247, Sensors and Control for Automation, (9 November 1994);

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