다면체 물체 인식을 위한 환상레이져 빔 투사형 시각 정보 처리 시스템 개발

Development of a visual-data processing system for a polyhedral object recognition by the projection of laser ring beam

In this study, some issues on 3- dimentional object recognition and pose determination are discussed. The method employs a laser projector which projects a cyliderical light beam on the object plane where it produces a bright ring pattern. The picture is then taken by a T.V camera. The ring pattern is mathmetically the ellipse of which the geometrical parameters have the 3-dimentional feature of the object plane. This paper gives the mathematical aspects of 3-dimentional recognition method and shows experimentally the variations of ellipse parameters as the spatial deviation of the plane object.