文章基本信息

标题：マニピュレータに搭載したレーザレンジファインダを用いた透明容器中の液中物体の3次元形状計測
本地全文：下载
作者：伊部公紀 ; 山下淳 ; 金子透等
期刊名称：映像情報メディア学会誌
印刷版ISSN：1342-6907
电子版ISSN：1881-6908
出版年度：2013
卷号：67
期号：11
页码：J379-J387
DOI：10.3169/itej.67.J379
出版社：The Institute of Image Information and Television Engineers
摘要：An important need exists to digitally archive 3D models of objects, such as specimens of rare underwater creatures. These objects are sometimes preserved in liquid contained in transparent vessels. When measuring submerged objects, light refraction should be considered. Refraction can be considered with ray tracing, but the 3D coordinates of the vessel are necessary to use this method. In this paper, we propose a method that takes advantage of transparent vessels not being completely transparent to measure both a vessel's surface and a submerged object using a laser range finder mounted on a manipulator. The method uses a camera to detect reflections from the vessel surface and the submerged object. A captured image may have multiple reflections from various paths, so it is necessary to identify the correct reflections. The proposed method identifies the reflections from the vessel on the basis of epipolar constraints related to the position of the laser range finder and identifies the reflections from the object by ray tracing. Experimental results demonstrated the effectiveness of the proposed method.
关键词：液中画像計測;レーザレンジファインダ;3次元計測;エピポーラ拘束;光線追跡