机器人视觉三维成像技术综述  

Review of Three-Dimensional Imaging Techniques for Robotic Vision

作　　者：卢荣胜[1] 史艳琼 胡海兵 Lu Rongsheng;Shi Yanqiong;Hu Haibing(School of Instrument Science and Opto-Electronics Engineering,Hefei University of Technology,Hefei,Anhui 230009,China;School of Mechanical and Electrical Engineering,Anhui Jianzhu University,Hefei,Anhui 230601,China)

机构地区：[1]合肥工业大学仪器科学与光电工程学院,安徽合肥230009 [2]安徽建筑大学机械与电气工程学院,安徽合肥230601

出　　处：《激光与光电子学进展》2020年第4期1-19,共19页Laser & Optoelectronics Progress

基　　金：国家自然科学基金(51875164);国家重点研发计划(2018YFB2003801);国家重大科学仪器开发与应用专项(2013YQ220749)。

摘　　要：本文针对智能制造领域机器人视觉感知中的三维视觉成像技术进行综述,系统地总结了一些有代表性的机器人视觉成像方法的特点和实际应用中的局限性,内容涉及飞行时间三维成像、点线扫描三维成像、色散共焦成像、结构光投影三维成像、光学偏折成像、单目与多目立体视觉三维成像和光场成像等。绘制了各种视觉成像的图谱,并探讨了机器人手眼系统最佳三维成像方法。The three-dimensional(3D)imaging techniques of robotic vision in the field of intelligent manufacturing robot vision perception are reviewed.The characteristics and limitation in practical applications of some typical robot vision imaging methods are systematically summarized.The content involves time-of-flight imaging,point and line scanning imaging,chromatic confocal imaging,structured light projection imaging,deflectometric imaging,monocular and multi-view stereo imaging,and light field imaging.The tree map of various robotic vision imaging methods are drawn.The best 3Dimaging methods of eye-in-hand robotic system are discussed.

关 键 词：机器视觉 三维成像 手眼系统 结构光投影 立体视觉 

分 类 号：TP74[自动化与计算机技术—检测技术与自动化装置]