Robot Vision Using Circular Dynamic Stereo

Circular dynamic stereoscopy (CDS) has special advantages as it enables a 3-D measurement using a single CCD camera without a cumbersome setting. Annular streaks are recorded using this system and the size of annular streaks directly concerns to the depth from the CCD camera. That is, the size of annular streaks is inversely proportional to the depth from the CCD camera and the three-dimensional information can be measured automatically by image processing technique. In this paper, robot vision system using circular dynamic stereoscopy is introduced. The arm robot is controlled using the measured data of CDS. Experimental results demonstrate the feasibility of our method. Key-Words: robot, vision, image processing, three dimensional measurement, CCD, multi spot laser, calibration