Title :
Dual-beam structured light vision system for 3D coordinates measurement
Author :
Gao, Shiyi ; Zhao, Mingyang ; Zhang, Lei ; Zou, Yuanyuan
Author_Institution :
Shenyang Inst. of Autom., Chinese Acad. of Sci., Shenyang
Abstract :
Recognition and identification of weld environment and seam dimensional position by computer vision is a key technology for developing advanced autonomous welding robot. In this paper, based on the robot laser curve seam tracking background we present our dual-beam structured light system that generates richer information than obtained only from one structured light system. Then the orthogonal Zernike moments edge detection is adopted to localize the centre of the light stripe. The obtained centre precision is subpixel. At the same time, the calibration of the CCD camera and the dual beam structured light is given. In the end, the application of the proposed system is shown and experiments have been implemented and results show that the approach is feasible.
Keywords :
edge detection; industrial robots; inspection; object recognition; position control; robot vision; welding; 3D coordinate measurement; CCD camera; autonomous welding robot; centre precision; computer vision; dual-beam structured light vision system; edge detection; light stripe centre localization; orthogonal Zernike moment; robot laser curve seam tracking background; seam dimensional position; weld environment identification; weld environment recognition; Calibration; Charge coupled devices; Charge-coupled image sensors; Computer vision; Coordinate measuring machines; Image edge detection; Machine vision; Robot kinematics; Robot vision systems; Welding; Dual beam structured light; Edge detection; stripe extraction;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4593515
