RODRIGUES, Marcos, KORMANN, Mariza, SCHUHLER, C and TOMEK, P (2013). Structured light techniques for 3D surface reconstruction in robotic tasks. In: KACPRZYK, J, (ed.) Advances in Intelligent Systems and Computing. Heidelberg, Springer, 805-814.
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Robotic tasks such as navigation and path planning can be greatly enhanced by a vision system capable of providing depth perception from fast and accurate 3D surface reconstruction. Focused on robotic welding tasks we present a comparative analysis of a novel mathematical formulation for 3D surface reconstruction and discuss image processing requirements for reliable detection of patterns in the image. Models are presented for a parallel and angled configurations of light source and image sensor. It is shown that the parallel arrangement requires 35\% fewer arithmetic operations to compute a point cloud in 3D being thus more appropriate for real-time applications. Experiments show that the technique is appropriate to scan a variety of surfaces and, in particular, the intended metallic parts for robotic welding tasks.
|Item Type:||Book Section|
|Research Institute, Centre or Group:||Cultural Communication and Computing Research Institute > Communication and Computing Research Centre|
|Depositing User:||Marcos Rodrigues|
|Date Deposited:||28 Aug 2013 10:59|
|Last Modified:||24 Aug 2015 23:33|
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