Robot vision with three dimensional thermal imaging

• US 8,780,179 B2
• Filed: 05/10/2011
• Issued: 07/15/2014
• 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.
• Primary Examiner(s): Patel, Jay
• Assistant Examiner(s): GEROLEO, FRANCIS
• Application Number:
  US13/104,267
• Publication Number:
  US 20120287239A1
• Time in Patent Office: 1,162 Days
• Field of Search: 348/46
• 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 input mirror and the second input mirror are forward looking and are angled such that a majority of the first image and the second image are overlapping such that 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 as an image frame and to process the image data to provide a stereoscopic output image;

wherein the first camera mirror and the second camera mirror are configured to simultaneously reflect the first image and the second image, respectively, to the top half and the bottom half of the image frame or vice versa, thereby each reflecting a left or a right image;

wherein the first camera mirror and the second camera mirror are configured crosswise in front of the camera, with one on top of the other; and

a baffle placed in a plane perpendicular to the plane of, and between the first camera mirror and the second camera mirror, the baffle operable to prevent overlap between the left and right images as received by the camera.

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 transmitter is configured to transmit the stereoscopic image pair as multiplexed or interlaced images.

7. 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 mirror and a first and a 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 input mirror and the second input mirror are forward looking and are angled such that a majority of the first image and the second image are overlapping such that 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 as an image frame, and to process the image data to provide a stereoscopic output image;

wherein the first camera mirror and the second camera mirror are configured to simultaneously reflect the first image and the second image, respectively, to the top half and the bottom half of the image frame or vice versa, thereby each reflecting a left or a right image;

wherein the first camera mirror and the second camera mirror are configured crosswise in front of the camera, with one on top of the other; and

wherein the optical system further has a baffle placed in a plane perpendicular to the plane of, and between the first camera mirror and the second camera mirror, the baffle operable to prevent overlap between the left and right images as received by the camera.