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Projected Texture Stereo Vision System in Sunlight

Article of Honda R&D Technical Review Vol.25 No.1


A binocular stereo vision camera system able to measure relative distance to a non-textured floor in real time without contact even under direct sunlight has been developed. A camera that alternately captures images with and without a projected texture at high speed, integrates the respective images within the pixels, and outputs the difference between them outside the pixels was developed for the system. The combination of this camera and a texture projector using a Class 1 laser that is safe for the eyes for pulse light emission has made it possible to measure the distance to a subject with a non-textured surface even under sunlight of 100000 lx if its reflectivity is at least 5%, achieving a measurement accuracy of 1 mm in a range between 0.9 m and 1.5 m.


(1) Shigemi, S., Kawaguchi, Y., Yoshiike, T., Kawabe, K., Ogawa, N.: Development of New ASIMO, Honda R&D Technical Review, Vol. 18, No. 1, p. 38-44
(2) Oike, Y., Ikeda, M., Asada, K.: Design and Implementation of Real-Time 3-D Image Sensor With 640 x 480 Pixel Resolution, IEEE Journal of Solid-State Circuits, Vol. 39, No. 4, p. 622-628 (2004)
(3) Konolige, K.: Projected Texture Stereo, Robotics and Automation (ICRA), p. 148-155 (2010)

Author (organization or company)

Chiaki AOYAMA(Fundamental Technology Research Center)

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