A Simple Sensor to Gather Three-Dimensional Data
by Bolles, Robert C., Kremers, Jan H., Cain, Ronald A.
Technical Note 249
Institution: AI Center, SRI International
Address: 333 Ravenswood Ave, Menlo Park, CA 94025
Note: SRI Project 1538.
A simple triangulation-based range sensor and its calibration procedure are described. The sensor consists of a projector that produces a plane of light, a camera that observes the intersection of the plan of light and objects in the scene, and a computer that calculates the x-y-z positions of points along the intersection. In this paper straightforward procedures are presented for calibrating a camera, computing the equation of a plane, and combining a camera calibration and an equation of a light plane to form a "sensor" matrix. The sensor matrix can be used to compute the x-y-z positions for points along the intersection efficiently.
|Bolles, Robert C||Program Director|