Processing in three surfacesAcquisition of three-dimensional information.
Trang 2ǽȎȐșȜȐ ǰ Ǯ
Trang 3x D
u x x f p D x M
),,(
t
t
w
w T w
w x D x x h x D
x x f p D p D x
),,(
) x , x h(
x D
p D x M x x f p D x M
T o
Trang 4m rank(Dw)<
u x x f p D x M
e e e e e
e e e T e
n
p
Trang 5(t
w
Trang 13ǽȎȐșȜȐ ǰ Ǯ ȀȖȚȜȢȓȓȐ Ǯ ǰ ǰȩȥȖȟșȓțȖȓ Ȗ ȟȠȎȏȖșȖȕȎȤȖȭ ȝȞȜȑȞȎȚȚțȜȑȜ
ȝȜȒȐȖȔțȜȑȜ ȞȜȏȜȠȎ ȚȎțȖȝȡșȭȠȜȞȎ ǶȕȐ Ǯǻ ǿǿǿǾ ȀȓȣțȖȥȓȟȘȎȭ ȘȖȏȓȞțȓȠȖȘȎ Ɋ
Trang 17×
×
Trang 18X Y
W
w X
W
2tan
H
=
Trang 19H
2tanβ
1= cβ
I L
Trang 20Processing in three surfaces
Acquisition of three-dimensional information
Trang 21(1) Case of one surface detection
1
2 x x
1
2 y y
),
4
1 y y
1
P P3 P4
Obstacle Obstacle
Right side Left side
Vv x v y
2
2P
y y
Trang 22P P42
2
P P5
Obstacle Obstacle
Left side Right side
Left side Right side
6
1 y y
V1
Trang 23{A i i=1,2,n}
=A
i= Δx Δy Δz
ǻp
[ i1 i2 i3 i4]
i ǻz ǻz ǻz ǻz ǻlz =