Laser Positioning Control of a Technical Vision System Based on Stereo Depth Data Feedback

In this paper is presented a two-step methodology for robot navigation. A Technical Vision System (TVS) is integrated with two webcams in stereo vision configuration to work as two systems in collaboration for the use of their strengths. The precise and accurate spatial coordinates provided by the TVS and the optimized scanning time reached with the integration of the stereo vision. The first step is based on the fast scanning of the scene by the stereo vision to enable the selection of a Region of Interest (ROI) for the second step, which is based on the laser position control of the TVS in the ROI for high resolution measurement. Preliminary angular coordinates obtained with stereo vision reached an error of 1.269 degrees, which was reduced to 0.744 degrees with the scanning of TVS in an optimized time