Structured illumination autonomous machine vision system
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United States of America Patent
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Oct 13, 1992
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N/A
app pub date -
Oct 13, 1988
filing date -
Oct 13, 1988
priority date (Note) -
Expired
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Abstract
A method and apparatus for automatically determining pathway boundaries for autonomous robotic navigation. A structured light pattern consisting of a plurality of lines is projected on the pathway and background and the reflected pattern is detected by a stereoscopically located video camera. Since the texture of the pathway and background are different, the captured image may be processed to distinguish one from the other. Image processing includes Hough transformation of the image field, rank filtering and morphological dilation. The end points of the pathway lines identified by such processing as well as the 3-D coordinates of such end points are determined.
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