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Tracking range discontinuities in dynamic scenes: smart range camera

The problem studied in this paper is algorithms for fast and reliable extraction of range discontinuities in dynamic scenes. The application is to control the motion of a robot using a range scanning sensor. When estimating the pose of the objects in a scene, it is obvious that range discontinuities and flat surfaces have the largest information content. The concept studied consists of a smart camera chip together with a scanning illuminating laser. Feedback loops are closed between the chip and the scanning laser so as to follow along different types of range discontinuities in the scene. More explicitly: (1) Two types of feedback laws are outlined so as to track along range discontinuities both with and without occlusion. (2) The laser can also track along a `generalized cylinder,' say, a cable free in space or laying on an uneven surface. (3) The tracking accuracy is estimated as the laser follows along the `curve of discontinuity.' The results are too preliminary and are not in this paper. In an earlier study, the Hough transform was found to be very robust in extracting the coordinates of planar surfaces. The edge parameters in this study are thus complementary to these surface parameters. Compared with complete range scanning of the entire scene, it seems possible to gain at least one order of magnitude in speed. This is important since these extracted range features are inside the feedback loop of the robot.