Finding 3D polyhedral object attitude using a virtual model for industrial machining

This paper explains how to find the attitude of 3D polyhedral object using a virtual model for industrial machining applications. First, the problem is detailed and solutions for each point are studied: camera calibration, image analysis, matching techniques and geometrical methods to find the position and orientation of an object using one video camera. Next, our method is presented, taking into account our particular experimental conditions and reducing the complexity of the problem. So it is possible to find the position of an object in a known reference frame. This result can be useful for diagnostic tasks in industrial machining. The experimental results are presented with both simple objects and complex ones, like a cylinder head. Finally, we present the limits of our method and show how it can be done to solve them.