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This Paper descrives a three dimensional robot vision sensor by astigmatism beam array projector using the fiber grating. The method that was previously reported containes a problem: the measurement range is limited in order to obtain the shape of an object uniquely from a single input image. To solve the problem, a novel method that uses the two range data obtained by the method using astigmatism and the active stereo is proposed. Range data obtained by the active stereo is high accuracy. However, we cannot determine range uniquely from a single input image. On the other hand, range data obtained by the method using astigmatism is determined uniquely. However, we cannot expect high accuracy because of the laser speckle noise, quantization error of an image, distortion of CCD camera, etc. To improve the performance of the sensor, this proposed method uses the two range data obtained by these methods.In this paper, We show measurement results obtained by developed system and verify the performance of the system.

Development of 3-D Vision Sensor Using Astigmatic Beam Array Projector.