Construction Of A Compact Range Image Sensor Using A Multislit Laser Projector Suitable For A Robot Hand

• doi: 10.1109/IROS.2012.6385712
• title: Construction of a compact range image sensor using a multi-slit laser projector suitable for a robot hand
• publisher: IEEE
• isbn: 978-1-4673-1735-1
• issn: 2153-0858
• partnum: 12CH38988
• rank: 1997
• access_type: LOCKED
• content_type: Conferences
• abstract: In this paper, a compact range image sensor used for short-range measurements is constructed with a multi-slit laser projector. Three-dimensional (3D) information obtained with a sensor is important for a robot that grasps an object. Sensors attached to robots for measurement are often hindered by occlusion by the hand immediately before an object is grasped. The constructed sensor is compact enough to be attached to a robot's hand, and occlusion can thus be avoided Compactness of the sensor is achieved by using a small CMOS camera and a laser projector and setting the baseline length between them as short as possible. The short baseline length also enables measurement in a short distance. Some experiments verify that the constructed sensor obtains accurate 3D information of objects in a short distance.
• article_number: 6385712
• pdf_url: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6385712
• html_url: https://ieeexplore.ieee.org/document/6385712/
• abstract_url: https://ieeexplore.ieee.org/document/6385712/
• publication_title: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
• conference_location: Vilamoura-Algarve, Portugal
• conference_dates: 7-12 Oct. 2012
• publication_number: 6363628
• is_number: 6385431
• publication_year: 2012
• publication_date: 7-12 Oct. 2012
• start_page: 4517
• end_page: 4523
• citing_paper_count: 5
• citing_patent_count: 0
• download_count: 133
• insert_date: 20121220
• index_terms:
  • ieee_terms:
    • Robot sensing systems
    • Image sensors
    • Measurement by laser beam
    • Cameras
    • Grasping
    • CMOS integrated circuits
  • dynamic_index_terms:
    • Image Sensor
    • Camera Sensor
    • Robotic Hand
    • Compact Sensor
    • License Plate Recognition
    • Automatic License Plate Recognition
    • Laser Projector
    • License Plate Readers
    • Compact Imaging
    • 3D Information
    • Baseline Length
    • Small Camera
    • Minimum Distance
    • Optical Axis
    • Fiber Axis
    • Beam Axis
    • 3D Scanning
    • Digital 3D
    • 3D Capture
    • Small Component
    • Width Of The Image
    • Image Position
    • Reference Position
    • Humanoid
    • Vision Sensors
    • Laser Ranging
    • Laser Rangefinder
    • Focal Length Of Lens
    • Sensor Structure
• isbn_formats:
  • format: CD, value: 978-1-4673-1735-1, isbnType: New-2005
  • format: Print ISBN, value: 978-1-4673-1737-5, isbnType: New-2005
  • format: Electronic ISBN, value: 978-1-4673-1736-8, isbnType: New-2005
• authors:
  • Author Name: Kazuya Iwasaki
    Affiliation: Course of Precision Engineering, School of Science and Engineering, Chuo University, Tokyo, Japan
    Author URL: https://ieeexplore.ieee.org/author/38540464700
    ID: 38540464700
    Order: 1
    Author Affiliations:
    • Course of Precision Engineering, School of Science and Engineering, Chuo University, Tokyo, Japan
  • Author Name: Kenji Terabayashi
    Affiliation: Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, Tokyo, Japan
    Author URL: https://ieeexplore.ieee.org/author/37403125300
    ID: 37403125300
    Order: 2
    Author Affiliations:
    • Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, Tokyo, Japan
  • Author Name: Kazunori Umeda
    Affiliation: Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, Tokyo, Japan
    Author URL: https://ieeexplore.ieee.org/author/37269782700
    ID: 37269782700
    Order: 3
    Author Affiliations:
    • Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, Tokyo, Japan

Image Sensor

• sensor_type: CMOS
• resolution: 752x480 pixels
• dynamic_range: Not specified
• pixel_size: Not specified
• dark_current: Not specified

Optical Data

• focal_length: 3.6 mm
• aperture: Not specified
• field_of_view: Not specified
• distortion: Not specified

Performance Metrics

• frame_rate: 15 fps

Applications & Benefits

• cell_imaging: Not specified
• benefits: The sensor is compact, suitable for robot applications, and capable of measuring at short distances.

Supporting Organizations

• supported_by: Chuo University

Manuscript Details

• publication_date: 7-12 Oct. 2012

Relevancy Score

• score: 8
• missing_fields:
  • dynamic_range
  • fill_factor
  • quantum_efficiency
  • dark_current
  • signal_to_noise_ratio
  • power_consumption
  • aperture
  • field_of_view
  • distortion
  • sensitivity
  • shutter_speed
  • noise

Processed JSON Filename

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