Robot Vision by Encoded Light Beams

A robot eye is more than a camera and less than a complete vision understanding system. It is a device which can scan or sense objects in the three-dimensional environment and extract useful numerical information about those objects. The information obtained by the robot eye should be of a form that can be interrogated by a vision understanding system. This article describes the development of a dependable, robust, and versatile robot eye which can rapidly mensurate a surface in three dimensions. Using an active/passive camera pair, surface mensuration is achieved with fast electro-optic implementation of well-known stereophotogrammetric principles. We discuss the calibration of the robot eye and the application of the robot eye to exploring and mensurating 3-D objects.

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