An Active Stereometric Triangulation Technique Using a Continuous Colour Pattern

  • A. Knoll
  • R. Sasse


We present a novel method for obtaining dense range maps, which is based on the combination of two (or more) colour cameras and the projection of a continuous colour pattern. The technique offers several advantages for use in robotics including the potential for very high speed of operation and for higher accuracy than achievable with other active triangulation techniques that employ discrete coloured light stripes or sequential binary-encoded monochrome patterns. The high speed makes the range image generation of fast moving objects in highly dynamic environments possible and thus enables a sensor based on this method to perform both coarse navigational tasks and the fine control of gripper Operations. In this approach a continuous colour pattern with uniform brightness is projected onto the objects in the scene.


Colour Pattern Colour Channel Range Image Colour Component Colour Correction 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. Altschuler 79.
    Altschuler, M., Altschuler, B., Taboada, J. Measuring Surfaces Space-Coded by a Laser-Projected Dot Matrix Proc. SPIE, Vol. 182, 1979Google Scholar
  2. Boissonat 81.
    Boissonat, J., Germain, F. A new Approach to the Problem of Acquiring Randomly Oriented Workpieces out of a Bin Proc. 7th Int. Conf. on Art. Intell., UCAI-81, 1981Google Scholar
  3. Boyer 87.
    Boyer, K., Kak, A. Color-Encoded Structured Light for Rapid Active Ranging IEEE Trans, on Pat. Anal, and Mach. Intell., Vol. PAMI-9, No. 1, Jan. 1987Google Scholar
  4. Echigo 85.
    Echigo, T., Yachida, M. A fast method for extraction of 3-D information using multiple stripes and two cameras Proceedings of the Int. Joint Conf. on Art. Intell. 1985Google Scholar
  5. Gutsche 91.
    Gutsche, R., Stahs, T., Wahl, F. Path Generation with a Universal 3d Sensor Proc. 1991 IEEE Conf. on Robotics and Autom.Google Scholar
  6. Klinker 90.
    Klinker, G. J., Shafer, A., Kanade, T. A Physical Approach to Color Image Understanding International Journal of Computer Vision, Nr. 4 (1990), pp. 7–38Google Scholar
  7. Monks 92.
    Monks, T., Carter, J., Shadle, C Colour Encoded Structured Light for Digitisation of Real-Time 3D Data Int Conf. on Image Process. and its Applications, Maastricht, April 1992Google Scholar
  8. Ottink 89.
    Ottink, F. Kalibrierung eines Roboter-Kamera-Systems Studienarbeit, Institut für Techn. Informatik der TU Berlin, 1989.Google Scholar
  9. Ottink 90.
    Otünk, F. Grundlagenuntersuchung zur Laserstereoskopie Diplomarbeit, Institut für Techn. Informatik der TU Berlin, 1990.Google Scholar
  10. Plaßmann 91.
    Plaßmann, P. Measuring the Area and Volume of Human Leg Ulcers Using Colour Coded Triangulation Proc. 1. Conf. on Advances in Wound Management, Cardiff, 1991Google Scholar
  11. Pritschow 91.
    Pritschow, G., Horn, A. Schnelle adaptive Signalverarbeitung für Lichtschnittsensoren Robotersysteme, No. 4, 1991, Berlin: Springer-VerlagGoogle Scholar
  12. Sasse 93.
    Sasse, R. Bestimmung von Entfernungsbildern durch aktive stereoskopische Verfahren Dissertation, TU Berlin, Fachbereich Informatik, 1993Google Scholar
  13. Tajima 87.
    Tajima, J. Rainbow ränge finder principle for ränge data acquisition Proc. IEEE Workshop Ind. Appl. of Mach. Vision and Mach. Intell., Feb. 1987Google Scholar
  14. Vuylsteke 90.
    Vuylsteke, P., Price, C., Oosterlinck, A. Image Sensors for Real-Time 3D Acquisition ASI Series F, Vol. 63: Traditional and Non-Traditional Robotic Sensors, Berlin: Springer-Verlag, 1990Google Scholar
  15. Vuylsteke 90b.
    Vuylsteke, P., Oosterlinck, A. Range Image Acquisition with a Single Binary-Encoded Light Pattern IEEE Trans, on Pat. Anal, and Mach. Intell., Vol. PAMI-12, Feb. 1990Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1995

Authors and Affiliations

  • A. Knoll
    • 1
  • R. Sasse
    • 2
  1. 1.Faculty of TechnologyUniversity of BielefeldBielefeldGermany
  2. 2.Computer Science DepartmentTechnical University of BerlinGermany

Personalised recommendations