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Planar segmentation for Geometric Reverse Engineering using data from a laser profile scanner mounted on an industrial robot
Örebro University, Department of Technology.
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. , 31 p.
Series
Studies from the Department of Technology at Örebro University, ISSN 1404-7225 ; 30
Keyword [en]
Geometric Reverse Engineering, 3D measurement systems, laser scanner, planar segmentation, region-growing
National Category
Information Science
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-2318OAI: oai:DiVA.org:oru-2318DiVA: diva2:136114
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: 2011-05-24Bibliographically approved
List of papers
1. Accuracy analysis of a 3D measurement system based on a laser profile scanner mounted on an industrial robot with a turntable
Open this publication in new window or tab >>Accuracy analysis of a 3D measurement system based on a laser profile scanner mounted on an industrial robot with a turntable
2007 (English)In: Proceedings of ETFA 12th IEEE conference on Emerging technologies and Factory Automation, 2007, 880-883 p.Conference paper, (Other academic)
Abstract [en]

High accuracy 3D laser measurment systems are used in applications like inspection and reverse engineering (RE). With automatic RE in mind, we have designed and built a system that is based on a laser profile scanner mounted on a standard industrial robot with a turntable. This paper is concerned with the relatively complex accuracy issues of such a system. The different parts of the system are analyzed individually and a brief discussion of how they interact is given. Finally a detailed analysis of the scanner head along with experimental results is presented.

National Category
Engineering and Technology Computer Science
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-2983 (URN)10.1109/EFTA.2007.4416872 (DOI)978-1-4244-0825-2 (ISBN)
Conference
IEEE Conference on Emerging Technologies and Factory Automation, ETFA. 25-28 Sept. 2007
Available from: 2008-06-11 Created: 2008-06-11 Last updated: 2013-10-14Bibliographically approved
2. Geometric reverse engineering using a laser profile scanner mounted on an industrial robot
Open this publication in new window or tab >>Geometric reverse engineering using a laser profile scanner mounted on an industrial robot
2008 (English)In: Proceedings of the 6th international conference of DAAAM Baltic industrial engineering / [ed] Rein Kyttner, 2008, 147-152 p.Conference 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.

Keyword
Geometric Reverse engineering, 3D measurement systems, laser scanning, segmentation, region growing
National Category
Engineering and Technology
Research subject
Mechanical Engineering
Identifiers
urn:nbn:se:oru:diva-2984 (URN)978-1-9985-59-783-5 (ISBN)
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: 2011-03-09Bibliographically approved
3. Planar segmentation of data from a laser profile scanner mounted on an industrial robot
Open this publication in new window or tab >>Planar segmentation of data from a laser profile scanner mounted on an industrial robot
(English)Manuscript (Other academic)
National Category
Information Systems
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-2985 (URN)
Available from: 2008-06-11 Created: 2008-06-11 Last updated: 2016-12-14Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
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  • Other locale
More languages
Output format
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  • asciidoc
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