Proceedings PaperIntensity-guided laser rangefinding for three-dimensional coordinate measurement and object recognition
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This paper deals with an intelligent inspection system, capable of combining intensity- and range-data in order to solve inspection tasks in the area of non-tactile, three-dimensional coordinate-measurement and object-recognition. The two sensors, i.e. a laser range-finder (triangulation system) and a CCD-camera are mounted on a four-axis displacement-set, which consists of stepper-motor-driven high-precision translation and rotary stages. Intensity-data coming from the camera's CCD-sensor is segmented by performing edge-detection and Kalman-filter-based contour-tracking. The segmentation result is compressed by approximating the extracted contours by a sequence of linear and circular geometric features. This symbolic edge description enables the system to classify both objects and features on their surface very rapidly, because the recognition task is reduced to scanning the scene for a small number of geometric features. The edge description is used to guide the laser range-finder to interesting areas visible in the scene, leading to a significant saving of time required for range sensing, i.e. for the 3D-inspection task in general. Because the sensor data integration heavily depends on the quality of the sensor models, the paper depicts important measurement errors and uncertainties introduced by camera and range-finder.