3D Vision System for Robot Interaction in Moving Scenes

In this paper we present a structured light projection system based on the projection of a color coded hexagonal array that is able to obtain range images in moving conditions. Unordered codes are allowed in the color pattern which implies that the mean Hamming distance between contiguous codewords of the pattern increases. As a result, code loss circumstances can be efficiently handled and computational cost in the pattern-image code correspondence phase is highly reduced. This range vision system has been integrated in a robotic cell so a 6 DOF manipulator robot can interact on a set of selected points of the moving scene. The experimentation has been performed on medium resolution range images and for slow controlled movements giving promising results.