Range Acquisition Based On Structured Light Of Panoramic Ring

Information of depth was an important field of computer vision research.At this stage,robots usually use range finder on the space for depth perception,and utilize the information of the depth to understood the objects in scene,but the high price was an key factor that hinder the range finder in promoting.Although,ultra-sound was much cheaper than range finder,but in terms of depth measurement with bad direction,which unable to accurately measure the object.Based on the large view of catadioptric Omni-directional camera combine with ring laser,use this device to calculate the 360 degree of depth information with single photo.This paper solves the full angle depth measurement model,the suppression of ambient light noise and the laser stripe extraction.Finally,the robot navigation,3D reconstruction and so on are put forward in this paper.Firstly,propose a method of depth measurement that based on panoramic ring structured light(PRSL)and catadioptric camera.The model is designed and deduced,and use this model can get inner link with parameters.Besides,utilize this model auxiliary guide design of depth measure device.With the model of measurement could improvement of the accuracy of the measurement range and the also optimize the parameters of the components.Secondly,through the active control with laser and camera,and using active and passive method to remove the noise of artificial light from picture.Input processed photo into the next stage which extract the laser stripe,with noise removed get a result of high-precision and anti-interference measurement of depth.Finally,using the depth measurement device which is proposed in this paper to carry on the depth measure,the replacement of the laser range finder to carry on the robot SLAM as well as the three-dimensional reconstruction to the space scene has obtained the good experimental result.