1.測量原理:
1.1、通過紅外結構光(Structured Light)來測量像素距離,如Kinect1、Project Tango1、Intel Realsense等;
通過近紅外激光器,將具有一定結構特徵的光(比如離散光斑、條紋光、編碼結構光等)投射到物體上,再由專門的紅外攝像頭進行採集。然後通過返回的結構光圖案,計算物體與自身的距離。1.2、通過飛行時間法(TOF)原理來測量像素距離,如Kinect2、TOF傳感器等。
通過發射脈衝光到被觀測物體上,然後接收從物體反射回去的脈衝光,通過發送到返回的光束飛行(往返)時間來計算被測物體離相機的距離。分爲光脈衝調製和連續波調製。
2. 3D相機調查
-
2.1雙目相機:
Intel系列:https://store.intelrealsense.com/(D415,D435,D435i T265)
Carnegie Robotics: https://bitbucket.org/crl/multisense_ros
NERIAN sceneScan:https://nerian.com/products/scenescan-stereo-vision/
https://arcure.net/omega-stereo-camera-for-indoor-outdoor-applications
https://www.toradex.cn/applications/industrial-automation-robotics/roboception
https://www.puxiang.com/galleries/fa1697107462f739541d99f728643125
-
2.2結構光
-
2.3 ToF
官網第二代產品:https://www.asus.com.cn/3D-Sensor/Xtion-2/specifications/
kinect使用介紹:
https://wenku.baidu.com/view/cd21be3149d7c1c708a1284ac850ad02de8007cd.htmlhttps://www.baslerweb.com/en/products/cameras/3d-cameras/
參考網址:
【1】https://rosindustrial.org/news/2016/1/13/3d-camera-survey
【2】https://rosindustrial.org/3d-camera-survey/
【3】https://blog.csdn.net/electech6/article/details/78707839
【4】https://blog.csdn.net/electech6/article/details/78349107