Motion compensation for structured light sensors

Debjani Biswas; Christoph Mertz

doi:10.1117/12.2179767

22 May 2015 Motion compensation for structured light sensors

Debjani Biswas, Christoph Mertz

Proceedings Volume 9468, Unmanned Systems Technology XVII; 946808 (2015) https://doi.org/10.1117/12.2179767
Event: SPIE Defense + Security, 2015, Baltimore, MD, United States

Abstract

In order for structured light methods to work outside, the strong background from the sun needs to be suppressed. This can be done with bandpass filters, fast shutters, and background subtraction. In general this last method necessitates the sensor system to be stationary during data taking. The contribution of this paper is a method to compensate for the motion if the system is moving. The key idea is to use video stabilization techniques that work even if the illuminator is switched on and off from one frame to another. We used OpenCV functions and modules to implement a robust and efficient method. We evaluated it under various conditions and tested it on a moving robot outdoors. We will demonstrate that one can not only do 3D reconstruction under strong ambient light, but that it is also possible to observe optical properties of the objects in the environment.

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Debjani Biswas and Christoph Mertz "Motion compensation for structured light sensors", Proc. SPIE 9468, Unmanned Systems Technology XVII, 946808 (22 May 2015); https://doi.org/10.1117/12.2179767

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KEYWORDS

Motion estimation

Sensors

Structured light

3D modeling

Cameras

Motion models

Camera shutters

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