Data Composite Supplementation on Stereo Image processing with Shadow Casting
In recent years, planetary rover attracted a lot of interest and ,especially. geological observation brings ouy new knowledge about the history of the birth of planets and our solar system. To get the geological information, the sampling and measurement of a rock and sand are required. It means the measurement of 3D surface information of workspace for manipulator is the most important process. Usually, the surface information is brought out by a stereo image processing, and a camera is the strongest candidate of sensors installing on a rover. However a natural object has much complexity and selfsimilarity which cause for matching error of stereo process. In this paper, to handle those subjects, we apply the projection of shadow by a stick or a manipulator. Shadow makes featured area helping for matching process and its shape is containing the 3D surface information. Therefore, Shadow Casting Stereo Imaging (SCSI) and Shadow Range Finder (SRF) are proposed and applied for 3D surface measurement. SCSI is based on stereo processing which has occlusion problem , and SRF take monocular image. We discuss data composition with SCSI and SRF to eliminate uncertainty and occlusion area of SCSI. Finally, proposed method is evaluated by experimental setup with manipulator.
Takuya Niibori Yasuharu Kunii Takahiro Shinotsuka
Depertment of Electrical,Electric and Communication Engineering,Science and Engineering,Chuo University,1-13-27 Kasuga,Bunkyo-ku,Tokyo Japan
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
977-982
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）