Compact robot vision for moving points

Circular dynamic stereoscopy (CDS) has special advantages as it enables a 3-D measurement using a single CCD camera without a cumbersome setting. Spiral streaks are recorded using this system and the size of spiral streaks directly concerns to the depth from the CCD camera. That is, the size of streaks is inversely proportional to the depth from the CCD camera and the three-dimensional information can be measured automatically by image processing technique. In this paper, robot vision system using circular dynamic stereoscopy is introduced. The arm robot is controlled using the measured data of CDS. Experimental results demonstrate the feasibility of our method.