{"id":{"repo_id":"unsw","oai_identifier":"oai:unsworks.library.unsw.edu.au:1959.4/55892"},"canonical_url":"https://search.dev.ndltd.org/etd/unsw/oai:unsworks.library.unsw.edu.au:1959.4/55892","repository":{"repo_id":"unsw","name":"University of New South Wales","base_url":"https://unsworks.unsw.edu.au/oai/provider"},"display":{"title":"On the construction of an autonomous 3D machine vision system and the development of techniques for interpreting its output data","abstract":"This thesis describes, in two parts, the preliminary development of a 3 dimensional vision system for use in robotics. The first part describes the successful development of a prototype of a fully autonomous computer peripheral from fast, hardwired circuitry which generates a 3D mapping of its field of view in a bank of dual ported memory. The system uses the standard active triangulation technique known as \"strip-lighting\" but integrates the conventional components in a manner which allows efficient and fully autonomous 3D data collection. This peripheral is then interfaced to a microcomputer for testing and evaluation. The second part of the thesis describes the development of software to interpret the data which resides in the memory of the autonomous peripheral. This software is designed to detect and describe simple surfaces in the natural co-ordinate system which is dictated by the arrangement of the components for a system using the active triangulation technique. The software techniques developed achieved success with a range of simple surface structures where the boundaries between individual surfaces are distinct and discontinuous. The limitations of the techniques are also explored by examination of some of the more marginal successes and some of the failures on more complicated surfaces. 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The second part of the thesis describes the development of software to interpret the data which resides in the memory of the autonomous peripheral. This software is designed to detect and describe simple surfaces in the natural co-ordinate system which is dictated by the arrangement of the components for a system using the active triangulation technique. The software techniques developed achieved success with a range of simple surface structures where the boundaries between individual surfaces are distinct and discontinuous. The limitations of the techniques are also explored by examination of some of the more marginal successes and some of the failures on more complicated surfaces. 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