激光与光电子学进展, 2020, 57 (4): 040001, 网络出版: 2020-02-20
机器人视觉三维成像技术综述 
下载： 7654次封面文章特邀综述
Review of Three-Dimensional Imaging Techniques for Robotic Vision
图 & 表
图 1. 两种机器人手眼系统的结构形式。(a)眼在手机器人系统;(b)眼看手机器人系统
Fig. 1. Configurations of two hand eye systems. (a) Eye-in-hand robotic system; (b) eye-to-hand robotic system
图 4. 主动三角法扫描成像[34]。(a)准直光束一维测距;(b)光条投影二维轮廓测量;(c)多光条投影三维面形测量
Fig. 4. Active triangulation scanning imaging methods[34]. (a) Distance measurement using a collimating beam light; (b) 2D measurement with a sheet of light projection; (c) 3D measurement with a multi-sheet light projection
图 6. 两种色散共焦单点测距方法。(a)基于小孔和分光镜的结构;(b)基于Y型光纤分光的结构
Fig. 6. Two types of chromatic confocal measurement technology. (a) Structure based on pinhole and beam splitter; (b) structure based on Y-type optical fiber
图 7. 两种色散共焦线扫描成像方案。(a)色散共焦显微镜[43];(b)色散共焦三角法[44]
Fig. 7. Two type schematics of chromatic confocal line scan imaging techniques. (a) Chromatic confocal microscope[43]; (b) chromatic confocal triangulation[44]
图 8. 伪随机散斑投影3D成像原理与算法过程
Fig. 8. Principle and algorithm process of pseudo-speckle projection 3D imaging
图 9. 多次投影3D成像。(a)多次投影3D系统机构示意图;(b)二进制格雷码投影3D基本原理;(c)二进制格雷码+正弦相移混合编码投影3D
Fig. 9. Multi-shot 3D imaging. (a) Configuration schematics of a multi-shot 3D imaging; (b) principle of binary Gray code 3D imaging; (c) mixed encoding with binary Gray code and phase shifting for 3D imaging
图 10. 光亮表面偏折测量方法示意图。(a)偏折法机器人手眼系统示例[83];(b)偏折法测量过程示例[89]
Fig. 10. Schematics of deflectometry for bright surface. (a) Demonstration of an eye-in-hand robot for deflectometry[83]; (b) explanation of measurement process of deflectometry[89]
图 12. 双目立体视觉系统与计算过程示意图[113]
Fig. 12. Schematic diagram of binocular stereo vision system and calculation process[113]
图 14. 光场相机成像与传统相机成像对比。(a)传统相机成像原理;(b)光场相机结构与成像原理
Fig. 14. Imaging comparison between light field camera and traditional camera. (a) Imaging principle of traditional camera; (b) structure and imaging principle of light field camera
图 16. 光场相机的发展历程和部分产品结构示例[121]
Fig. 16. Development trends of light field camera and some products illustration[121]
图 18. Eye-in-Hand机器人3D视觉成像优选方案
Fig. 18. Optimization scheme of 3D vision imaging system for eye-in-hand robots
卢荣胜, 史艳琼, 胡海兵. 机器人视觉三维成像技术综述[J]. 激光与光电子学进展, 2020, 57(4): 040001. Rongsheng Lu, Yanqiong Shi, Haibing Hu. Review of Three-Dimensional Imaging Techniques for Robotic Vision[J]. Laser & Optoelectronics Progress, 2020, 57(4): 040001.
PDF全文
