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13 October 1994 Specular and transparent objects in moving range cameras: active reduction of ambiguities
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This paper is written to further understanding of the basic limitations of eye-in-hand range cameras for the handling of specular and transparent objects. The basic underlying assumption for a range camera is one diffuse reflex. Specular and transparent objects usually give multiple reflections interpreted as different types of `ghosts' in the range images. These `ghosts' are likely to cause serous errors during gripping operations. As the robot moves some of these `ghosts' move inconsistently with the true motion. In this paper we study, experimentally and theoretically, how the range measurements can be integrated in a consistent way during the motion of the robot. The paper is experimental with emphasis on parts with `optical complications' including multiple scattering. Occlusion is not studied in this paper. Some of our findings include: (1) For scenes with one plane mirror there is a complete understanding of the `deambiguation' by motion. Also, the coordinates of the mirror can be estimated without one single observation of the mirror itself. The other objects in the scene are not `mirror like.' (2) For polished steel cylinders, the inclination and radius can be estimated from the curved ray-traces on plane matte surfaces.
© (1994) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Jonas Nygards and Ake V. Wernersson "Specular and transparent objects in moving range cameras: active reduction of ambiguities", Proc. SPIE 2354, Intelligent Robots and Computer Vision XIII: 3D Vision, Product Inspection, and Active Vision, (13 October 1994);

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