Towards real-time strongdynamicstrong close range photogrammetry.PDFVIP

Towards Real-Time Dynamic Close Range PhotogrammetryC.W. Urquhart and J.P. Siebert Towards real-time dynamic close range photogrammetry C.W. Urquhart and J.P. Siebert The Turing Institute Limited, George House, 36 North Hanover Street, Glasgow G1 2AD, UK. [colinu, siebert] @turing.ac.uk ABSTRACT The goal of the Active Stereo Probe (ASP) project is the on-line recovery of 3D surfaces from stereo images captured using a dynamic binocular robot vision system. In this paper, we present results of 3D surface recovery using scale-space automatic stereo-matching. These results have been considerably enhanced by bathing the scene in textured light provided by the ASP active illumination source. We also describe a two stage approach that incorporates photogrammetric techniques into the ASP system to maintain calibration during dynamic system operation. Direct Linear Transform based calibration provides an initial static calibration. Thereafter, dynamic calibration is maintained by exploiting high resolution encoders to track the systems external orientation parameters and thereby constrain the search space of subsequent bundle adj ustment. We expect this strategy to achieve the speed and accuracy required to satisfy many on-line 3D surface recovery applications. 1. INTRODUCTION 1.1. Background The increasing availability of off-the-shelf high resolution CCD video cameras and the unaba