On Extending Capabilities Of A Robotic Vision System
Chuxin Chen, Mohan Manubhai Trivedi, Suresh B. Marapane · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1989
A robot vision system should perform a variety of tasks accurately and robustly. The system should posses the capabilities to acquire images in a complex environment, to perform low level image processing, to extract primative features and critical information such as depth information, and to derive high level description of the scene. This paper describes extensions of a practical vision system which can acquire and process images under different viewing geometries and extract 3-D information using a pair of stereo images acquired using a single camera mounted on the hand of robot, using region-based stereo matching scheme. The performance of the system is tested by conducting several experiments utilizing a laboratory testbed.