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Structured Light Techniques for 3D Surface Reconstruction in Robotic Tasks

  • Conference paper
Proceedings of the 8th International Conference on Computer Recognition Systems CORES 2013

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 226))

Abstract

Robotic tasks such as navigation and path planning can be greatly enhanced by a vision system capable of providing depth perception from fast and accurate 3D surface reconstruction. Focused on robotic welding tasks we present a comparative analysis of a novel mathematical formulation for 3D surface reconstruction and discuss image processing requirements for reliable detection of patterns in the image. Models are presented for a parallel and angled configurations of light source and image sensor. It is shown that the parallel arrangement requires 35% fewer arithmetic operations to compute a point cloud in 3D being thus more appropriate for real-time applications. Experiments show that the technique is appropriate to scan a variety of surfaces and, in particular, the intended metallic parts for robotic welding tasks.

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Author information

Authors and Affiliations

  1. GMPR – Geometric Modelling and Pattern Recognition Group, Sheffield Hallam University, Sheffield, UK

    M. Rodrigues & M. Kormann

  2. TWI – The Welding Institute, Cambridge, UK

    C. Schuhler

  3. MFKK – Invention and Research Center Services, Budapest, Hungary

    P. Tomek

Authors
  1. M. Rodrigues
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  2. M. Kormann
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  3. C. Schuhler
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  4. P. Tomek
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Corresponding author

Correspondence to M. Rodrigues .

Editor information

Editors and Affiliations

  1. , Department of Systems and Computer, Wroclaw University of Technology, WybrzezeWyspianskiego St 27, Wroclaw, 50-370, Poland

    Robert Burduk

  2. , Department of Systems and Computer, Wroclaw University of Technology, WybrzezeWyspianskiego St 27, Wroclaw, 50-370, Poland

    Konrad Jackowski

  3. , Department of Systems and Computer, Wroclaw University of Technology, WybrzezeWyspianskiego St 27, Wroclaw, 50-370, Poland

    Marek Kurzynski

  4. , Department of Systems and Computer, Wroclaw University of Technology, WybrzezeWyspianskiego St 27, Wroclaw, 50-370, Poland

    Michał Wozniak

  5. , Department of Systems and Computer, Wroclaw University of Technology, WybrzezeWyspianskiego St, Wroclaw, 50-370, Poland

    Andrzej Zolnierek

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© 2013 Springer International Publishing Switzerland

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Rodrigues, M., Kormann, M., Schuhler, C., Tomek, P. (2013). Structured Light Techniques for 3D Surface Reconstruction in Robotic Tasks. In: Burduk, R., Jackowski, K., Kurzynski, M., Wozniak, M., Zolnierek, A. (eds) Proceedings of the 8th International Conference on Computer Recognition Systems CORES 2013. Advances in Intelligent Systems and Computing, vol 226. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00969-8_79

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  • DOI: https://doi.org/10.1007/978-3-319-00969-8_79

  • Publisher Name: Springer, Heidelberg

  • Print ISBN: 978-3-319-00968-1

  • Online ISBN: 978-3-319-00969-8

  • eBook Packages: EngineeringEngineering (R0)

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