A 3-D VISION SYSTEM MODEL FOR AUTOMATIC OBJECT SURFACE SENSING

被引:21
作者
THEODORACATOS, VE [1 ]
CALKINS, DE [1 ]
机构
[1] UNIV WASHINGTON,DEPT MECH ENGN,SEATTLE,WA 98195
关键词
D O I
10.1007/BF01420594
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
The development of a noncontact ''light striping'' (structured light) based three-dimensional, six-degrees-of-freedom vision system for automatic object surface sensing is reported. The system modeling and world-point reconstruction methodology involve homogeneous-coordinate system transformations applied in two independent stages: the video imaging stage using three-dimensional perspective transformations and the mechanical scanning stage using three-dimensional affine transformations. Concatenation of the two independent matrix models leads to a robust four-by-four, six-degrees-of-freedom system model. The reconstructed sectional contours are registered automatically in real time with respect to a common world-coordinate system as a control net for Non-Uniform Rational B-spline (NURBS) surface approximation. The reconstruction process is demonstrated by measuring the surface of a 19.5 x 2 ft rowing shell. A detailed statistical accuracy and precision analysis shows an average error of 0.2% (0.002) of the camera's field-of-view. System sensitivity analysis reveals a nonlinear increase of sensitivity for angles higher than 45-degrees between the normals of the image and laser planes.
引用
收藏
页码:75 / 99
页数:25
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