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Planar segmentation of data from a laser profile scanner mounted on an industrial robot
Örebro University, School of Science and Technology. (CAD Technology)
Örebro University, School of Science and Technology. (CAD Technology)
2009 (English)In: The International Journal of Advanced Manufacturing Technology, ISSN 0268-3768, E-ISSN 1433-3015, Vol. 45, no 1-2, 181-190 p.Article in journal (Refereed) Published
Abstract [en]

In industrial applications like rapid prototyping, robot vision, and geometric reverse engineering, where speed and automatic operation are important, an industrial robot and a laser profile scanner can be used as a 3D measurement system. This paper is concerned with the problem of segmenting the data from such a system into regions that can be fitted with planar surfaces. We have developed a new algorithm for planar segmentation based on laser scan profiles and robot poses. Compared to a traditional algorithm that operates on a point cloud, the new algorithm is shown to be more effective and faster.

Place, publisher, year, edition, pages
Springer London, 2009. Vol. 45, no 1-2, 181-190 p.
Keyword [en]
3D measurement system, Laser profile scanner, Industrial robot, Segmentation, Planar regions
National Category
Engineering and Technology
Research subject
Computerized Image Analysis; Numerical Analysis; Mathematics; Mechanical Engineering
Identifiers
URN: urn:nbn:se:oru:diva-7517DOI: 10.1007/s00170-009-1951-9ISI: 000270450100019Scopus ID: 2-s2.0-70350558470OAI: oai:DiVA.org:oru-7517DiVA: diva2:233941
Projects
Geometric Modeling based on Automatic data Capture "GMAC"
Available from: 2009-09-04 Created: 2009-07-29 Last updated: 2017-02-17Bibliographically approved
In thesis
1. 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. 102 p.
Series
Örebro Studies in Technology, ISSN 1650-8580 ; 37
Keyword
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: 2011-04-27Bibliographically approved

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Citation style
  • apa
  • harvard1
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Language
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  • Other locale
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Output format
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