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15

ICRA
2010
IEEE

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Projected texture stereo

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Projected texture stereo

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— Passive stereo vision is widely used as a range sensing technology in robots, but suffers from dropouts: areas of low texture where stereo matching fails. By supplementing a stereo system with a strong texture projector, dropouts can be eliminated or reduced. This paper develops a practical stereo projector system, ﬁrst by ﬁnding good patterns to project in the ideal case, then by analyzing the effects of system blur and phase noise on these patterns, and ﬁnally by designing a compact projector that is capable of good performance out to 3m in indoor scenes. The system has been implemented and has excellent depth precision and resolution, especially in the

Kurt Konolige

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ICRA 2010 | Passive Stereo Vision | Robotics | Stereo | Strong Texture Projector |

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Added	26 Jan 2011
Updated	26 Jan 2011
Type	Journal
Year	2010
Where	ICRA
Authors	Kurt Konolige

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