Speckle-based pose estimation for 3D measurement of the featureless environment by two cameras

Hiroshi Higuchi; Hiromitsu Fujii; Atsushi Taniguchi; Masahiro Watanabe; Atsushi Yamashita; Hajime Asama

doi:10.1117/12.2566908

1 June 2020 Speckle-based pose estimation for 3D measurement of the featureless environment by two cameras

Hiroshi Higuchi, Hiromitsu Fujii, Atsushi Taniguchi, Masahiro Watanabe, Atsushi Yamashita, Hajime Asama

Proceedings Volume 11515, International Workshop on Advanced Imaging Technology (IWAIT) 2020; 115151P (2020) https://doi.org/10.1117/12.2566908
Event: International Workshop on Advanced Imaging Technologies 2020 (IWAIT 2020), 2020, Yogyakarta, Indonesia

Abstract

In this research, we propose the 3D measurement system combining structured light and speckle based pose estimation by introducing two different setting cameras. The proposed system consists of two lasers, spot laser and line laser, and two cameras, with and without lens, which can obtain both focused and defocused images at once. Local shapes are measured using focused images by a structured light method. 3D positions of points projected by laser are calculated by triangulation. Pose changes are estimated from speckle information using defocused images. Displacements of speckle patterns are detected as optical ow by Phase Only Correlation (POC) method. Pose changes are estimated from speckle displacements by solving equations derived from the physical nature of speckle. The target shape as a whole is reconstructed by integrating local shapes into common coordinates using estimated pose changes. In the experiment, the texture-less at board was measured with motion. From the experimental results, it is confirmed that the shape of the board was reconstructed correctly by the proposed 3D measurement system.

Citation Download Citation

Hiroshi Higuchi, Hiromitsu Fujii, Atsushi Taniguchi, Masahiro Watanabe, Atsushi Yamashita, and Hajime Asama "Speckle-based pose estimation for 3D measurement of the featureless environment by two cameras", Proc. SPIE 11515, International Workshop on Advanced Imaging Technology (IWAIT) 2020, 115151P (1 June 2020); https://doi.org/10.1117/12.2566908

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KEYWORDS

Speckle

3D metrology

Cameras

Environmental sensing

Imaging systems

Motion estimation

Structured light

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