BINOCULAR 3-D VISION SYSTEM

A useful binocular 3-D vision system is introduced in this paper, the pose of an object with 6 degreesof freedom is discussed. Frei and Chen method is used to extract edges with the help of non-equal quantization and preemphasis techniqucs. Modified Moravec's interest operator method is applied to en-sure automatic extraction of feature points. Edge-based sequential registration and hicrarchical matching significantly speed up the matching process. 4 rules summarized from rigid body movement is used in theperiod of locating object pose from 3-D data to solve combinational explosion and ambiguity problemsduring the matching process of workpiece feature points and model points.