Problems In Three-Dimensional Imaging

The addition of vision or three-dimensional imagery to a robot significantly enhances its capabilities to perform not only well-defined tasks, but new tasks as well -- tasks that could not be done by a "blind" robot. At the next level, the robot would have a capability of acquiring, processing and analyzing a three-dimensional image of a "real" scene. This paper presents several alternate ways that such three-dimensional imagery can be acquired and represented. Some emphasis will be placed on one approach -- the use of laser radar to obtain range data. However, the primary objective in this paper is to identify and discuss the major problems associated with the acquisition and effective use of this type of imagery, especially in robot vision applications.

[1]  Azriel Rosenfeld,et al.  Scene Labeling by Relaxation Operations , 1976, IEEE Transactions on Systems, Man, and Cybernetics.

[2]  Yoram Yakimovsky,et al.  A system for extracting three-dimensional measurements from a stereo pair of TV cameras , 1976 .

[3]  Ruzena Bajcsy,et al.  Texture gradient as a depth cue , 1976 .

[4]  A. E. Brain,et al.  The measurement and use of registered reflectance and range data in scene analysis , 1977, Proceedings of the IEEE.

[5]  Richard O. Duda,et al.  Use of Range and Reflectance Data to Find Planar Surface Regions , 1979, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[6]  Yoshiaki Shirai,et al.  A scene description method using three-dimensional information , 1979, Pattern Recognit..

[7]  Robert W. McLaren,et al.  The Application of Special Computing Techniques to Speed-Up Image Feature Extraction and Processing Techniques. , 1981 .

[8]  Peter Saraga,et al.  The application of parallel projections to three-dimensional object location in industrial assembly , 1981, Pattern Recognit..

[9]  Hsien-Che Lee.  A computer vision system for generating object description , 1981 .

[10]  Eugene S. McVey,et al.  Some Accuracy and Resolution Aspects of Computer Vision Distance Measurements , 1982, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[11]  Frank J. Pipitone,et al.  A Wide-field Scanning Triangulation Rangefinder for Machine Vision , 1983 .

[12]  Ray A. Jarvis,et al.  A Perspective on Range Finding Techniques for Computer Vision , 1983, IEEE Transactions on Pattern Analysis and Machine Intelligence.