Calibration of a portable laser 3-D scanner used by a robot and its use in measurement

Li, Jianfeng; Zhu, Jianguo; Guo, Yongkang; Lin, Xiangdi; Duan, Kailiang; Wang, Yishan; Tang, Qiulin

doi:10.1117/1.2829766

Cited by 27 publications

(24 citation statements)

References 14 publications

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“…where the transformation matrix T is a 4 3 4 invertible matrix, and the fourth row of matrix T indicates that all the world control points are constrained on the OXY plane of the local WCS. The local world control points can be transformed into the global CCS by equation (10). The planar calibration target can be placed in multiple poses, so the proposed method easily extracts a large number of control points.…”

Section: Computing Camera Coordinates Of Control Pointsmentioning

confidence: 99%

“…However, the homography transformation of calibration target plane and camera image plane is estimated separately via the Levenberg-Marquardt optimization algorithm, and the estimated homography transformation is less accurate and is not needed when camera calibration is performed. As to the structure and calibration method of the 3D laser scanner, Li et al [9][10][11] designed a laser scanner by mounting the laser stripe vision sensor to the end-effect of a robot. The accuracy of the laser scanner is limited by the absolute accuracy of the robot.…”

Section: Introductionmentioning

confidence: 99%

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Plane-constraint-based calibration method for a galvanometric laser scanner

Yang

Zeng

Jiang

et al. 2018

Advances in Mechanical Engineering

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Laser stripe vision sensors have limited application when the whole surface of an object has to be measured; therefore, a galvanometric laser scanner is presented using a one-mirror galvanometer element as its mechanical device to drive the light stripe to sweep along the object. A flexible plane-constraint together with a look-up table calibration algorithm by viewing a planar calibration target from unknown orientations is presented to calibrate the proposed galvanometric laser scanner. The plane-constraint method generates a larger number of control points by imposing a plane constraint on the control points. Compared with the invariance of double cross-ratio, the plane-constraint-based calibration method generates the same number of control points without error propagation. Contrast experiments are conducted to verify the efficiency and accuracy of the proposed calibration method.

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Section: Computing Camera Coordinates Of Control Pointsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Plane-constraint-based calibration method for a galvanometric laser scanner

Yang

Zeng

Jiang

et al. 2018

Advances in Mechanical Engineering

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“…Point: One of the first problem associated with the use of this type of sensor in the robot structure is its calibration. For this purpose a sphere base methodology can be used [10,11]. It consists in two different steps:…”

Section: Laser Scanner Calibration On the Robot Tool Centermentioning

confidence: 99%

BIM for the Steel Fabrication Industry Robotic Systems

Tavares¹,

Costa²,

Malaca³

et al. 2017

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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In this paper, we present a comparison between the older DSTV file format and the newer version of the IFC standard, dedicating special attention of its impact in the robotization of welding and cutting processes in the steel structure fabrication industry. In the last decade, we have seen in this industry a significant increase in the request for automation. These new requirements are imposed by a market focused on the productivity enhancement through automation. Because of this paradigm change, the information structure and workflow provided by the DSTV format needed to be revised, namely the one related with the plan and management of steel fabrication processes. Therefore, with this work we enhance the importance of the increased digitalization of information that the newer version of the IFC standard provide, by showing how this information can be used to develop advanced robotic cells. More in detail, we will focus on the automatic generation of robot welding and cutting trajectories, and in the automatic part assembly planning during components fabrications. Besides these advantages, as this information is normally described having as base a perfect CAD model of the metallic structure, the resultant robot trajectories will have some dimensional error when fitted with the real physical component. Hence, we also present some automatic approaches based on a laser scanner and simple heuristics to overcome this limitations.

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“…Laser line scanners have proven useful in manufacturing, as is well documented both in the research literature [7] and in the marketplace [8]. They have been often used in fixed installations, where objects are placed on a rotary table in front of the scanner [9] or flow by on conveyor belts.…”

Section: Motivation and Related Workmentioning

confidence: 99%

High-accuracy 3D sensing for mobile manipulation: Improving object detection and door opening

Quigley

Batra

Gould

et al. 2009

2009 IEEE International Conference on Robotics and Automation

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Abstract-High-resolution 3D scanning can improve the performance of object detection and door opening, two tasks critical to the operation of mobile manipulators in cluttered homes and workplaces. We discuss how high-resolution depth information can be combined with visual imagery to improve the performance of object detection beyond what is (currently) achievable with 2D images alone, and we present door-opening and inventory-taking experiments. I. INTRODUCTIONIn this paper, we propose employing high-resolution 3D sensing on mobile manipulators. Just as the change from sonar-based sensing to laser-based sensing enabled drastic improvement of SLAM in mobile robotics, we propose that dramatically improving the quality of depth estimation on mobile manipulators can enable new classes of algorithms and higher levels of performance (Figure 1). In support of this idea, we present two scenarios where high-accuracy 3D data proves useful to large mobile manipulators operating in cluttered environments.The first scenario involves object detection. In many tasks, a mobile manipulator needs to search for an object class in a cluttered environment. This problem is challenging when only visual information is given to the system: variations in background, lighting, scene structure, and object orientation exacerbate an already-difficult problem. We demonstrate that augmenting state-of-the-art computer vision techniques with high-resolution 3D information results in higher precision and recall than is currently achievable by either modality alone.The second scenario involves manipulator trajectory planning. We demonstrate closed-loop perception and manipulation of door handles using information from both visual images and the 3D scanner. The high-resolution 3D information helps ensure that the trajectory planner keeps the manipulator clear of the door while still contacting the door handle.We then present an application experiment which combines these capabilities to perform a simple inventory-control task. The mobile manipulator enters several offices and searches for an object class, recording the detected locations.

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Calibration of a portable laser 3-D scanner used by a robot and its use in measurement

Cited by 27 publications

References 14 publications

Plane-constraint-based calibration method for a galvanometric laser scanner

Plane-constraint-based calibration method for a galvanometric laser scanner

BIM for the Steel Fabrication Industry Robotic Systems

High-accuracy 3D sensing for mobile manipulation: Improving object detection and door opening

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