Surface profile-guided scan method for autonomous 3D reconstruction of unknown objects using an industrial robot

Özkan, Metin; Secil, Sezgin; Turgut, Kaya; Dutağacı, Helin; Uyanik, Cihan; Parlaktuna, Osman

doi:10.1007/s00371-021-02241-z

Cited by 3 publications

(6 citation statements)

References 40 publications

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“…After obtaining the pinhole model of the two cameras, the positional transformation relationship between the two cameras can be expressed as (8) where R and T are the rotation matrix and the translation vector from the color camera to the monochrome camera, respectively. R r is the rotation matrix and T r is the translation vector from the world coordinate system to the color camera coordinate system.…”

Section: Camera Pinhole Modelmentioning

confidence: 99%

“…Xu et al [7] reported a PSLS for flexible 3D point reconstruction using a monocular camera and a laser point array. Ozkan et al [8] achieved complete surface reconstruction based on line laser illumination by mounting a LSLS at the end of a robotic arm. He et al [9] achieved a cylinder reconstruction with high accuracy by using a cross-line laser sensor.…”

Section: Introductionmentioning

confidence: 99%

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Surface structured light sensor with simultaneous color mapping

Yuan

Kang

Feng

et al. 2023

Meas. Sci. Technol.

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To obtain geometric information and color texture simultaneously, a surface structured light sensor consisting of a monochrome camera, a color camera, and a projector is proposed. The sensor uses a color camera to acquire surface color information while using it as a geometric measurement unit and matching with the monochrome camera to obtain geometric information. Due to the Bayer array and demosaicing algorithm of the color camera, pixel RGB components are always coupled with interference from other channels. However, existing color de-crosstalk in reconstruction is merely applied to the decoupling of color composite patterns, ignoring the intensity errors present in color fringe patterns under monochrome illumination. In our sensor, de-crosstalk of monochromatic patterns is considered to guarantee the reconstruction accuracy. The high-accuracy measurement of the sensor is validated by reconstructing standard steps, yielding a mean absolute error of 0.008 mm for distance measurements. In addition, the reconstruction experiment of a terracotta warrior verifies that the proposed sensor has potential application in the digital preservation of cultural relics.

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Section: Camera Pinhole Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Surface structured light sensor with simultaneous color mapping

Yuan

Kang

Feng

et al. 2023

Meas. Sci. Technol.

View full text Add to dashboard Cite

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“…It has found extensive applications in quality inspection, reverse engineering, and other related fields [1][2][3][4][5][6]. In recent years, the emergence of industrial robots has led to the development of mounted 3D vision measurement systems [7][8][9][10][11][12][13]. These systems have gained popularity in industrial manufacturing due to the robot's flexibility and convenience.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…To overcome these limitations, researchers have developed robot-mounted LPS systems [7,15,[32][33][34][35]. Such as Ozkan et al [7] utilized an LPS, a robot, and a rotary stage to capture the complete appearance of a workpiece. The LPS and the manipulator are connected by wire cable to transmit a synchronous trigger signal, and an additional camera is employed to assist the component of measurement.…”

Section: Introductionmentioning

confidence: 99%

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A density-controllable 3D measurement system based on linear profile sensor and universal manipulator

Zhao,

Zhang,

2024

Meas. Sci. Technol.

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In order to offer a simple and efficient solution for obtaining point clouds, a modular 3D measurement system that incorporates an LPS mounted on a universal manipulator is developed. Unlike the requirement for electronic connections between the LPS and the robot to achieve hard synchronization, we employ a high-low-frequency collaborative strategy for soft synchronization, thereby eliminating the need for complex hardware synchronization modules. Since soft synchronization lacks the high-speed synchronous data acquisition of hard synchronization, we have also proposed an interpolation method on low density data to generate uniform higher-density point clouds, thus enabling a density-controllable point clouds acquisition approach. Experimental results demonstrate the effectiveness and versatility of the system.

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