327 
  
  
  
  
  
  
  
    
   
  
  
  
  
  
  
RGB IHS 
"d = : 
zn 
line scan 
colour LUT 
camera f(Un) - 7 
beam splitter 
i 
\ b/w line scan camera 
  
  
white light 
\ illumination 
Ch. 
         
  
section-of-light a 
NIR 
i 
projector 
  
à 
Fig.3 The multisensorial Colour &3D line camera. A real-time 3D line-scan camera is combined with a 
colour line scan camera with IHS colour component signals. The elimination of the influence of 
local reflectivity on the signal of the 3D camera is achieved by dividing the 3D signal by the 
Intensity signal. The sheet-of-light is projected in the near infrared in order to be invisible to the 
colour camera. 
All these operations can be performed with look-up-tables using fast static RAMs so that the multisensorial 
Colour&3D line scan camera performs in real-time, producing for every pixel a complete feature vector V(x) 
with the uncorrelated components [ I, H, $,Z ] . 
  
Fig.4 Grey-level image of mushrooms. Plot of height isolines from a real-time 
3D line-scan camera image 
The in optics knowledgeable reader will realize that it is not a must to use a CCD sensor with rectangular pixels. 
The same functionality can be obtained by imaging with a anamorphotic ( a cylindrical ) lense and a diaphragm 
with rectangular slits in such a way as to image rectangular zones on the object onto quadratic pixels on the CCD 
sensor. 
IAPRS, Vol. 30, Part 5W1, ISPRS Intercommission Workshop "From Pixels to Sequences", Zurich, March 22-24 1995