Fig. 1. Configurations of two hand eye systems. (a) Eye-in-hand robotic system; (b) eye-to-hand robotic system

Fig. 2. Schematic of a cooperative vision system of robots

Fig. 3. TOF imaging principle^[24]

Fig. 4. Active triangulation scanning imaging methods^[34]. (a) Distance measurement using a collimating beam light; (b) 2D measurement with a sheet of light projection; (c) 3D measurement with a multi-sheet light projection

Fig. 5. 3D measurement principle of flying triangulation^[36]

Fig. 6. Two types of chromatic confocal measurement technology. (a) Structure based on pinhole and beam splitter; (b) structure based on Y-type optical fiber

Fig. 7. Two type schematics of chromatic confocal line scan imaging techniques. (a) Chromatic confocal microscope^[43]; (b) chromatic confocal triangulation^[44]

Fig. 8. Principle and algorithm process of pseudo-speckle projection 3D imaging

Fig. 9. Multi-shot 3D imaging. (a) Configuration schematics of a multi-shot 3D imaging; (b) principle of binary Gray code 3D imaging; (c) mixed encoding with binary Gray code and phase shifting for 3D imaging

Fig. 10. Schematics of deflectometry for bright surface. (a) Demonstration of an eye-in-hand robot for deflectometry^[83]; (b) explanation of measurement process of deflectometry^[89]

Fig. 11. Principle of deflectometry

Fig. 12. Schematic diagram of binocular stereo vision system and calculation process^[113]

Fig. 13. Principle of multi-view imaging^[114]

Fig. 14. Imaging comparison between light field camera and traditional camera. (a) Imaging principle of traditional camera; (b) structure and imaging principle of light field camera

Fig. 15. Inside structure of the Lytro light field camera^[119]

Fig. 16. Development trends of light field camera and some products illustration^[121]

Fig. 17. Genealogy of robot 3D vision imaging methods

Fig. 18. Optimization scheme of 3D vision imaging system for eye-in-hand robots

Fig. 19. Occlusion problem of triangulation 3D imaging