Structured Light Vision Systems Using a Robust Laser Stripe Segmentation Method

Abstract

In the thesis, we propose a structured light vision system equipped with multi-cameras and multi-laser emitters for object height measurement or 3D reconstruction. The proposed method offers a better accuracy performance over a single camera system. The structured light method may fail the interference of reflection and scattering of light. We use U-Net to extract the laser region, obtain the laser stripe center after erosion and dilation, and finally reconstruct the point cloud corresponding to the laser stripe. Our experiments demonstrate that our structured light system with the U-Net can perform effectively and robustly in a complex environment.