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Geometric reverse engineering using a laser profile scanner mounted on an industrial robot
Örebro University, Department of Technology.
Örebro University, Department of Technology.
Örebro University, Department of Technology.
2008 (English)In: Proceedings of the 6th international conference of DAAAM Baltic industrial engineering / [ed] Rein Kyttner, 2008, p. 147-152Conference paper, Published paper (Other academic)
Abstract [en]

Laser scanners in combination with accurate orientation devices are often used in Geometric Reverse Engineering (GRE) to measure point data. The industrial robot as a device for orientation has relatively low accuracy but the advantage of being numerically controlled, fast, and flexible and it is therefore of interest to investigate if it can be used in this application. We have built a measuring system based on a laser profile scanner mounted on an industrial robot. In this paper we present results from practical tests based on point data. We also show how data from laser profiles can be used to increase accuracy in some cases. Finally we propose a new method for plane segmentation using laser profiles.

Place, publisher, year, edition, pages
2008. p. 147-152
Keywords [en]
Geometric Reverse engineering, 3D measurement systems, laser scanning, segmentation, region growing
National Category
Engineering and Technology
Research subject
Mechanical Engineering
Identifiers
URN: urn:nbn:se:oru:diva-2984ISBN: 978-1-9985-59-783-5 (print)OAI: oai:DiVA.org:oru-2984DiVA, id: diva2:136112
Conference
6th International conference of DAAAM Baltic industrial engineering, 24-26 April 2008, Tallinn, Estonia
Available from: 2008-06-11 Created: 2008-06-11 Last updated: 2017-10-18Bibliographically approved
In thesis
1. Planar segmentation for Geometric Reverse Engineering using data from a laser profile scanner mounted on an industrial robot
Open this publication in new window or tab >>Planar segmentation for Geometric Reverse Engineering using data from a laser profile scanner mounted on an industrial robot
2008 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

Laser scanners in combination with devices for accurate orientation like Coordinate Measuring Machines (CMM) are often used in Geometric Reverse Engineering (GRE) to measure point data. The industrial robot as a device for orientation has relatively low accuracy but the advantage of being numerically controlled, fast, flexible, rather cheap and compatible with industrial environments. It is therefore of interest to investigate if it can be used in this application.

This thesis will describe a measuring system consisting of a laser profile scanner mounted on an industrial robot with a turntable. It will also give an introduction to Geometric Reverse Engineering (GRE) and describe an automatic GRE process using this measuring system. The thesis also presents a detailed accuracy analysis supported by experiments that show how 2D profile data can be used to achieve a higher accuracy than the basic accuracy of the robot. The core topic of the thesis is the investigation of a new technique for planar segmentation. The new method is implemented in the GRE system and compared with an implementation of a more traditional method.

Results from practical experiments show that the new method is much faster while equally accurate or better.

Place, publisher, year, edition, pages
Örebro: Örebro universitet, 2008. p. 31
Series
Studies from the Department of Technology at Örebro University, ISSN 1404-7225 ; 30
Keywords
Geometric Reverse Engineering, 3D measurement systems, laser scanner, planar segmentation, region-growing
National Category
Information Systems
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-2318 (URN)
Presentation
2008-06-11, T131, Teknikhuset, Fakultetsgatan 1, Örebro, 13:00 (English)
Opponent
Supervisors
Available from: 2008-06-11 Created: 2008-06-11 Last updated: 2018-01-13Bibliographically approved
2. Segmentation and fitting for geometric reverse engineering: processing data captured by a laser profile scanner mounted on an industrial robot
Open this publication in new window or tab >>Segmentation and fitting for geometric reverse engineering: processing data captured by a laser profile scanner mounted on an industrial robot
2010 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Geometric Reverse Engineering (GRE) is the problem of creating CAD models of real objects by measuring point data from their surfaces. The GRE process is usually divided into four sub processes, data capturing, preprocessing, segmentation, fitting and finally CAD model creation. To automate the GRE process the sub processes need to be integrated. The work presented in this thesis concerns the integration of the sub processes and shows how to implement GRE using a system consisting of a laser profile scanner mounted on an industrial robot equipped with a turntable.The first paper is concerned with the relatively complex accuracy issues of the system and the sources of errors of the system are identified.The second paper continues the work with accuracy issues to investigate the 2D accuracy of the scanner head. Moreover it presents an implementation of planar segmentation and fitting based on point clouds. A new method for planar segmentation based on a laser profiles and robot poses is proposed.The Third paper presents a comprehensive  review of the recent development of the measurement system and discusses the integrated GRE process and the requirements for integrating the GRE sub processes using an open source CAD tool which is maintained and developed at Örebro University.The fourth paper addresses the problem of segmentation of the measured data into planar regions by implementing and comparing two different algorithms. The first algorithm is well known and based on point clouds. The second algorithm is new and based on laser profiles and robot poses. Experimental results indicate that the second algorithm is faster and more accurate.The final paper continues the work on segmentation and fitting. A new algorithm to solve the complex problem of quadric segmentation and fitting is presented.Finally, the thesis points out interesting directions of future work.

Place, publisher, year, edition, pages
Örebro: Örebro universitet, 2010. p. 102
Series
Örebro Studies in Technology, ISSN 1650-8580 ; 37
Keywords
Geometric Reverse Engineering, Industrial robot, Laser profile scanner, Segmentation, Fitting
National Category
Engineering and Technology
Research subject
Mechanical Engineering
Identifiers
urn:nbn:se:oru:diva-10999 (URN)978-91-7668-738-3 (ISBN)
Public defence
2010-09-23, C114, Karlavägen 16, Campus Alfred Nobel -Karlskoga, 13:15 (English)
Opponent
Supervisors
Projects
Geometric Modeling based on Automatic data Capture (GMAC)
Available from: 2010-06-10 Created: 2010-06-10 Last updated: 2017-10-18Bibliographically approved

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http://innomet.ttu.ee/daaam08/Online/Design%20Engineering/Rahayem.pdf

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Rahayem, MohamedKjellander, Johan

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