High-speed measurement of foot shape based on multiple-laser-plane triangulation

Jezeršek, Matija; Možina, Janez

doi:10.1117/1.3265522

Cited by 38 publications

(44 citation statements)

References 17 publications

(17 reference statements)

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“…The measurements of the workpiece's 3D shape are based on the laser-triangulation principle where the camera acquires images of the surface that is illuminated by a laser light plane from a different angle [15,25]. In such a configuration the laser stripe on the acquired image is distorted according to the surface of the measured section.…”

Section: Measurements Of the Workpiece's 3d Shapementioning

confidence: 99%

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Automatic teaching of a robotic remote laser 3D processing system based on an integrated laser-triangulation profilometry

et al. 2017

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Original scientific paper One of the key challenges in robotic remote laser 3D processing (RL3DP) is to achieve high accuracy for the laser's working trajectory relative to the features of the workpiece. This paper presents a novel RL3DP system with an automatic 3D teaching functionality for a precise and rapid determination of the working trajectory which comprises a robot manipulator, 3D scanning head, fibre laser and an off-axis positioned camera. The 3D measurement is based on laser triangulation with laser-stripe illumination using the laser's pilot beam and scanning head. The experimental results show that the system has a precision better than 70 µm and 120 µm along lateral and vertical direction respectively inside the measuring range of 100 × 100 mm. The teaching time is 30-times shorter compared to a visual teaching procedure. Therefore, such a system can lead to large cost reductions for modern production lines that have constant changes to the products' geometries and functionalities. Keywords: edge detection; laser triangulation; remote laser processing; robot teaching; three-dimensional measurement Automatsko učenje robotskih laserskih daljinskih 3D obradnih sustava na osnovu laserske triangulacijeIzvorni znanstveni članak Jedan od bitnih izazova u daljinskoj laserskoj 3D obradi (RL3DP) je postizanje visoke točnosti jer laser radi po rubovima predmeta koji obrađuje. Ovaj rad prikazuje novi RL3DP sustav s automatskom 3D nastavnom funkcionalnošću radi točnog i brzog određivanja prijenosa detektiranih rubova koje obrađuje robot sa 3D skenerom, fiber laserom i izvan aksijalno pozicioniranom kamerom. 3D skeniranje se bazira na laserskoj triangulaciji sa pilotskom laserskom trakom. Eksperimentalni rezultati pokazuju da sustav ima preciznost bolju od 70 µm i 120 µm u bočnom i vertikalnom smjeru u mjernom području od 100 × 100 mm. Vrijeme učenja je 30-puta kraće u odnosu na vizualni postupak. Stoga, takav sustav može značajno smanjiti troškove obrade sa modernim proizvodnim sistemima koji se moraju prilagođavati stalnim promjenama geometrije i funkcionalnosti proizvoda.

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Section: Measurements Of the Workpiece's 3d Shapementioning

confidence: 99%

“…The measured profiles are then transformed into a 3D space using estimated values of the abovementioned parameters. These parameters are then numerically optimized until the minimum deviation (the sum of the squared errors) between the measured profiles and the reference surface is found [25].…”

Section: System Calibrationmentioning

confidence: 99%

Automatic teaching of a robotic remote laser 3D processing system based on an integrated laser-triangulation profilometry

et al. 2017

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“…), can be compensated by calibration. The presented system was calibrated using the reference surface method such as described in [14]. For this purpose an object with known geometry was manufactured with high accuracy.…”

Section: System Calibrationmentioning

confidence: 99%

Handheld 3D Measuring System Based on DSLR Camera

Pavlovčič¹,

Jezersek²,

Možina³

2012

Proceedings of the 3rd International Conference on 3D Body Scanning Technologies, Lugano, Switzerland, 16-17 October 2012

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A handheld color 3D measuring system is presented. It consists of a commercial DSLR camera body, a 50mm fixed focal length lens and a grating projection system with a built-in camera flash used as a light source. The grating mask is composed of up to 140 equally spaced stripes, with the stripes period of 48 μm. The projector uses 25mm focal length lens. All parts with the exception of the grating projection optics and a ring-shaped connection arm are commercially available. The 3D shape is reconstructed from a single image using the Fourier Transform Profilometry method. 3D reconstruction based on the triangulation principle is performed after the phase unwrapping. The measuring system is calibrated using the reference geometry method. The precision of the measuring system is 1.4 mm for measuring range 700x520x400 mm at the distance of 2000 mm and 0.5 mm for measuring range 300x260x200 mm at the distance of 1000 mm. The image acquisition time can be as short as 1/200 s. The measuring system is used in various medical research studies in cooperation with the Neurologic Clinic, Department of Dermatovenerology and Department of Traumatology from University Medical Center Ljubljana. In one of the applications the orientation of the human head with respect to the torso is measured to accurately diagnose and to evaluate the course of treatment of patients with torticollis disease. In a second application the skin erosion and wound shape before and after the treatment are monitored. The apparatus has proven to be a robust and easy to use, which is a precondition for efficient, fast and accurate measurements.

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“…One direction of development was to eliminate the scanning procedure. A representative of this technique is described in [18] where the foot is measured by four stationary measuring modules based on laser multiple line triangulation. The methods based on the fringe projection technique are also presented in [19] to [21].…”

Section: Introductionmentioning

confidence: 99%

“…The methods based on the fringe projection technique are also presented in [19] to [21]. The major improvement regarding the scanning techniques is the shorter measuring time, which in principle enables the study of the foot shape during walking [18] and [22] to [25].The second line of development went into the reduction of the number of cameras and lasers. Such an example is the method described by Boer and Dulio [26].…”

mentioning

confidence: 99%

Three-Dimensional Foot Scanning System with a Rotational Laser-Based Measuring Head

Novak

Babnik

Možina

et al. 2014

SV-JME

Self Cite

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Knowledge of the exact three-dimensional (3D) shape of the feet is extremely important for the footwear industry, since the correct fit between the shoe and the foot is an important comfort factor. Badly fitting shoes are the major cause of pain, foot related diseases and injuries [1] to [4]. 3D feet measurement therefore provides state of the art data for: (i) producing an adaptive design of a standard shoe; (ii) personalizing the shoe to individual foot dimensions; (iii) creating a better fitting for standard mass produced shoes and (iv) determining the best-fitting shoe for customers in a shop selling standard shoes. Traditionally, foot measuring techniques used callipers and measuring tapes. Simple mechanical devices were developed later, such as the Brannock device [5] and [6] or the Ritz stick length measuring device [7], which only measures a few of the most important foot dimensions, such as foot length, arch length and foot width. The next step in the foot measurement evolution are two-dimensional foot scanners, which measure the shape and dimensions of the footwear using a photo capturing in a flat plane [8]. The major drawback of these systems is the lack of foot height measurement. So-called two-and-half-dimension scanners, which measure foot contours from the top and side view [9] to [11] enable extraction of foot's length, width and height in any cross-section. But the girths of the crosssections, their curvature and local foot deformation are still not known.The complete 3D scanning systems are the logical progression to the mentioned limitations of the earlier systems. These systems are mainly based on the laser triangulation principle. One of the first such systems was the measuring system made by the VORUM research corporation [12]. It has four laserline projectors and eight cameras, which measure the lateral cross-section of the foot, defined by the projected light plane. The entire 3D foot shape is further scanned by moving the complete projectorscameras assembly along the longitudinal foot axis (from the toes to the heel). Since the complexity of this system is relatively high due to the many cameras and lasers, which should be actuated during the measurement procedure, the price of the system is rather high. Similar system, but low cost, was later developed by Kouchi and Mochimaru [13]. Such systems are therefore mainly used in research and medical applications [14] to [17].There are many attempts to overcome the economical drawback of above solution, which is still a gold standard in terms of measurement precision. One direction of development was to eliminate the scanning procedure. A representative of this technique is described in [18] where the foot is measured by four stationary measuring modules based on laser multiple line triangulation. The methods based on the fringe projection technique are also presented in [19] to [21]. The major improvement regarding the scanning techniques is the shorter measuring time, which in principle enables the study of the foot shape during walking [1...

show abstract

High-speed measurement of foot shape based on multiple-laser-plane triangulation

Cited by 38 publications

References 17 publications

Automatic teaching of a robotic remote laser 3D processing system based on an integrated laser-triangulation profilometry

Automatic teaching of a robotic remote laser 3D processing system based on an integrated laser-triangulation profilometry

Handheld 3D Measuring System Based on DSLR Camera

Three-Dimensional Foot Scanning System with a Rotational Laser-Based Measuring Head

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