Robot Vision With Three Dimensional Thermal Imaging

• US 20120287239A1
• Filed: 05/10/2011
• Published: 11/15/2012
• Est. Priority Date: 05/10/2011
• Status: Active Grant

• Current Assignee: Southwest Research Institute
• Original Assignee: Southwest Research Institute
• Inventors: Mitchell, Joseph N., Moore, Andrew R.
• Granted Patent: US 8,780,179 B2
• Time in Patent Office: Days
• US Class Current: 348/46
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G01J 2005/0077 Imaging
• CPC Class Codes: G01J 5/0808 Convex mirrors
• CPC Class Codes: G03B 35/08 by simultaneous recording
• CPC Class Codes: G05B 2219/37426 Detected with infrared sensor
• CPC Class Codes: G05B 2219/37567 3-D vision, stereo vision, with two cameras
• CPC Class Codes: H04N 13/20 Image signal generators
• CPC Class Codes: H04N 13/211 using temporal multiplexing
• CPC Class Codes: H04N 13/218 using spatial multiplexing

Abstract

A robot vision system provides images to a remote robot viewing station, using a single long wave infrared camera on-board the robot. An optical system, also on-board the robot, has mirrors that divide the camera'"'"'s field of view so that the camera receives a stereoscopic image pair. An image processing unit at the viewing station receives image data from the camera and processes the image data to provide a stereoscopic image.

Claims

1. A robot vision system for providing images from a robot to a remote viewing station, comprising:

a single long wave infrared camera on-board the robot;

an optical system on-board the robot, and having at least a first and second camera mirror and a first and second input mirror;

wherein the first input mirror is configured to receive a first image and to reflect the first image to the first camera mirror;

wherein the second input mirror is configured to receive a second image and to reflect the second image to the second camera mirror;

wherein the first image and the second image are a stereoscopic pair of images of a scene;

a transmitter for transmitting image data representing the stereoscopic image pair to the viewing station; and

an image processing unit at the viewing station, operable to receive the image data and to process the image data to provide a stereoscopic output image.

2. The system of claim 1, wherein the transmitter is configured to transmit the image data wirelessly.

3. The system of claim 1, wherein the first and second camera mirrors are placed one above the other at a predetermined angle.

4. The system of claim 1, further comprising a baffle between the first and second camera mirrors, placed in a plane perpendicular to the plane of the camera mirrors.

5. The system of claim 1, wherein the first and second input mirrors are convex mirrors.

6. The system of claim 1, wherein the image received by the camera has the right image and the left image split between the top and bottom halves of each image frame.

7. The system of claim 1, wherein the transmitter is configured to transmit the stereoscopic image pair as multiplexed or interlaced images.

8. A method of providing images from a robot to a remote viewing station, comprising:

placing a single long wave infrared camera on-board the robot;

placing an optical system on-board the robot, the optical system having at least a first and second camera

wherein the second input mirror is configured to receive a second image and to reflect the second image to the second camera mirror;

wherein the first image and the second image are a stereoscopic pair of images of a scene;

transmitting image data representing the stereoscopic pair of images to the viewing station; and

receiving the image data at the viewing station, the viewing station having a processor operable to receive the image data and to process the image data to provide a stereoscopic output image.

9. The method of claim 8, wherein the transmitting step is performed by transmitting the first image and the second image split between the top and bottom halves of each image frame.

10. A robot vision system for providing images from a robot to a remote viewing station, comprising:

a single long wave infrared camera on-board the robot;

an optical system on-board the robot, and having at least a moveable mirror and a fixed mirror;

wherein the moveable mirror is arranged and operable to move into and out of the camera'"'"'s field of view, and to provide a first image to the camera when the moveable mirror is in the camera'"'"'s field of view;

wherein the fixed mirror is arranged to provide a second image to the camera when the movable mirror s not in the camera'"'"'s field of view;

wherein the first image and the second image are a stereoscopic pair of images of a scene;

a transmitter for transmitting image data representing the stereoscopic image pair to the viewing station; and

an image processing unit at the viewing station, operable to receive the image data and to process the image data to provide a stereoscopic output image.

11. The system of claim 10, wherein the moveable mirror rotates in and out of the camera'"'"'s field of view.

12. The system of claim 10, wherein the image received by the camera has the right image and the left image split between the top and bottom halves of each image frame.

13. The system of claim 10, wherein the transmitter is configured to transmit the stereoscopic image pair as multiplexed or interlaced images.