3D Reconstruction for Telerobotic Welding

We present a technique to reconstruct the environment for telerobotic welding. The welding environment consists of typical textureless object, which causes problem in stereo matching of traditional spacial stereo. Under the novel framework of spacetime stereo, we add artificial texture onto the surface of objects by projecting a multi-level dual monotonously changing "saw-tooth" stripe gray light patterns. The SSD of different image pairs are normalized before added together to find the best matched pixels of the two image sequence. Subpixel disparity is obtained by interpolation and the unreliable regions are removed by intensity tracking and left-right consistent check. The experimental results show the validity of the presented technique.