RESEARCHES

Smart Vision & Robotic Sensing

Professor, Robotics Laboratory
Smart Innovation Program, Graduate School of Advanced Science and Engineering
Hiroshima University

Idaku ISHII

Brief Biography

>> Research Contents: In order to establish high-speed robot senses that are much faster than human senses, we are conducting research and development of information systems and devices that can achieve real-time image processing at 1000 frames/s or greater. As well as integrated algorithms to accelerate sensor information processing, we are also studying new sensing methodologies based on vibration and flow dynamics; they are too fast for humans to sense.

Robot-mounted High-speed Depth Vision

A high-frame-rate (HFR) structured light vision is developed for observing moving three-dimensional (3-D) scenes; it is mountable on the end of a robot manipulator for 3-D shape inspection. Our system can simultaneously obtain depth images of 512 x 512 pixels at 500 fps by implementing a motion compensated coded structured light method on an HFR camera projector platform; the 3-D computation is accelerated using the parallel processing on a GPU board. This method can remarkably reduce the synchronization errors in the structured light-based measurement, which are encountered in the projection of multiple light patterns with different timings; such synchronization errors become larger as the ego-motion of a manipulator becomes larger. The performance of our system was demonstrated by showing several 3-D shape measurement results when the 3-D module is mounted on a fast-moving 6-DOF manipulator as a sensing head.

WMV movie(2.6M)
Robot-mounted high-speed depth vision

Reference

Chen Jun, Yongjiu Liu, Qingyi Gu, Tadayoshi Aoyama, Takeshi Takaki, and Idaku Ishii: Robot-mounted 500-fps 3-D Shape Measurement Using Motion-compensated Coded Structured Light Method, Proceeedings of the 2014 IEEE International Conference on Robotics and Biomimetics, pp.1989-1994, 2014.