Structured light techniques for 3D surface reconstruction in robotic tasks

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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Official URL: http://link.springer.com/chapter/10.1007/978-3-319...
Link to published version:: 10.1007/978-3-319-00969-8_79

Abstract

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
Identification Number: 10.1007/978-3-319-00969-8_79
Depositing User: Marcos Rodrigues
Date Deposited: 28 Aug 2013 10:59
Last Modified: 24 Aug 2015 23:33
URI: http://shura.shu.ac.uk/id/eprint/7280

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