3D reconstruction of welding environment based on spacetime stereo

Abstract

In this paper, a technique for 3D reconstruction of welding environment is presented in order to improve the intelligence of welding robot. Based on the novel framework of spacetime stereo, the technique can be viewed as a combination of structured light and traditional stereo vision. To overcome the problem in stereo matching of the untextured object in the welding environments, a series of light pattern is designed to add artificial "texture" onto the surface. The result of experiment shows that the technique is a promising means to reconstruct the completely unstructured welding environment. © 2007 Springer-Verlag Berlin Heidelberg.