Design of a photometric stereo-based depth camera for robotic 3D reconstruction

Kallia Smith; Hannah Lothrop; Siddharth Singh; Tomonari Furukawa

doi:10.1117/12.2675449

28 June 2023 Design of a photometric stereo-based depth camera for robotic 3D reconstruction

Kallia Smith, Hannah Lothrop, Siddharth Singh, Tomonari Furukawa

Proceedings Volume 12720, 2022 Workshop on Electronics Communication Engineering; 127200M (2023) https://doi.org/10.1117/12.2675449
Event: 2022 Workshop on Electronics Communication Engineering (WECE 2022), 2022, Xi'an, China

Abstract

A new design for a hardware system for photometric stereo-based robotic vision is proposed. In addition, a onefactor- at-a-time sensitivity analysis is performed to determine the optimal working distance for varying depths of field and feature depths for the photometric stereo (PS) sensor. The optimal working distance is defined as the distance at which the PS system is able to robustly achieve the best focus measure throughout the entire image. A cubic equation relating focus measure to working distance is found for each feature depth, and it is shown that good focus is achieved within the targeted range of working distances and feature depths. A validation study was also performed to show the results of PS using the designed sensor.

Citation Download Citation

Kallia Smith, Hannah Lothrop, Siddharth Singh, and Tomonari Furukawa "Design of a photometric stereo-based depth camera for robotic 3D reconstruction", Proc. SPIE 12720, 2022 Workshop on Electronics Communication Engineering, 127200M (28 June 2023); https://doi.org/10.1117/12.2675449

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