TY - GEN
T1 - High-accuracy 3D image stitching for robot-based inspection systems
AU - Ulrich, Marco
AU - Forstner, Andreas
AU - Reinhart, Gunther
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/9
Y1 - 2015/12/9
N2 - Robot-based inspection systems are flexible and fast, but lack the required accuracy due to the typically utilized industrial robots. While this contradiction is most often dealt with calibration of the robot or tracking of the tool, the presented approach will use neither. Instead, the gathered point clouds of the 3D sensor are stitched together in order to give a local reference in regard to the starting point of the robot's movement. For the application of inspecting sheet metal parts, plain and featureless component surfaces must be taken into account. Therefore a texture projection is applied to provide additional information to the stitching algorithm. The resulting procedure can be used to calculate the sensor's movement with high accuracy without the need to consider the used robot.
AB - Robot-based inspection systems are flexible and fast, but lack the required accuracy due to the typically utilized industrial robots. While this contradiction is most often dealt with calibration of the robot or tracking of the tool, the presented approach will use neither. Instead, the gathered point clouds of the 3D sensor are stitched together in order to give a local reference in regard to the starting point of the robot's movement. For the application of inspecting sheet metal parts, plain and featureless component surfaces must be taken into account. Therefore a texture projection is applied to provide additional information to the stitching algorithm. The resulting procedure can be used to calculate the sensor's movement with high accuracy without the need to consider the used robot.
KW - Image processing
KW - Iterative closest point algorithm
KW - Manufacturing industries
KW - Robot vision systems
UR - http://www.scopus.com/inward/record.url?scp=84956696944&partnerID=8YFLogxK
U2 - 10.1109/ICIP.2015.7350952
DO - 10.1109/ICIP.2015.7350952
M3 - Conference contribution
AN - SCOPUS:84956696944
T3 - Proceedings - International Conference on Image Processing, ICIP
SP - 1011
EP - 1015
BT - 2015 IEEE International Conference on Image Processing, ICIP 2015 - Proceedings
PB - IEEE Computer Society
T2 - IEEE International Conference on Image Processing, ICIP 2015
Y2 - 27 September 2015 through 30 September 2015
ER -