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Structured illumination autonomous machine vision system

  • US 5,155,775 A
  • Filed: 10/13/1988
  • Issued: 10/13/1992
  • Est. Priority Date: 10/13/1988
  • Status: Expired due to Fees
First Claim
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1. A method of providing information for automatically determining pathway boundaries for autonomous robotic navigation, comprising the steps of:

  • projecting a structured light pattern of sequentially scanned thin horizontal lines on a pathway and background,viewing the resultant light pattern which is reflected from the pathway and background with a stereoscopically located video camera,storing an image field which includes bits which correspond to said resultant light pattern in a memory, andprocessing the image field to determine the degree of distortion of said resultant light pattern, wherein the texture of the background is courser than the texture of the pathway, and whereby said information for determining said pathway boundaries is provided as indicated by the scanned lines reflected from the background having a greater degree of discontinuity than those reflected from the pathway, wherein said processing includes taking the Hough transform of said image field to identify lines in said resultant light pattern, and wherein said processing further includes rank filtering said identified lines.

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