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Erschienen in:
2018 | OriginalPaper | Buchkapitel
SPGS: A New Method for Autonomous 3D Reconstruction of Unknown Objects by an Industrial Robot
verfasst von : Cihan Uyanik, Sezgin Secil, Metin Ozkan, Helin Dutagaci, Kaya Turgut, Osman Parlaktuna
Erschienen in: Towards Autonomous Robotic Systems
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Abstract
This paper presents the first findings of a new method called surface profile guided scan (SPGS) for 3D surface reconstruction of unknown small-scale objects. This method employs a laser profile sensor mounted on an industrial manipulator, a rotary stage, and a camera. The system requires no prior knowledge on the geometry of the object. The only information available is that the object is located on the rotary table, and is within the field of view of the camera and the working space of the industrial robot. First a number of surface profiles in the vertical direction around the object are generated from captured images. Then, a motion planning step is performed to position the laser sensor directed towards the profile normal. Finally, the 3D surface model is completed by hole detection and scanning process. The quality of surface models obtained from real objects with our system prove the effectiveness and the versatility of our 3D reconstruction method.