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The use of 3D imaging to determine the orientation and location of the object based on the CAD model
Author(s): Arkadiusz Nitka
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Paper Abstract

The laser triangulation method allows non-contact scanning of objects and obtaining a three-dimensional point cloud. The measuring system consists of a camera and illuminator that allows projection of a linear laser beam on the surface of the object. The position of the laser beam is recorded on the camera matrix. Next, on the basis of the knowledge of camera angle and laser plane, coordinates of points describing the surfaces and edges of objects in three-dimensional space are determined. By calibrating the obtained data, it is possible to measure products, determining parameters such as volume, angle between planes, position of the object in space. The article discusses the issue of searching for the assumed model among the point cloud and determining its location and orientation in the container, enabling collision-free implementation of manipulation tasks with the use of an industrial robot.

Paper Details

Date Published: 6 November 2019
PDF: 9 pages
Proc. SPIE 11176, Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2019, 111760Z (6 November 2019); doi: 10.1117/12.2536895
Show Author Affiliations
Arkadiusz Nitka, AGH Univ. of Science and Technology (Poland)


Published in SPIE Proceedings Vol. 11176:
Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2019
Ryszard S. Romaniuk; Maciej Linczuk, Editor(s)

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