机器人视觉三维成像技术综述

Review of Three-Dimensional Imaging Techniques for Robotic Vision

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.