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Segmentation and fitting for geometric reverse engineering: processing data captured by a laser profile scanner mounted on an industrial robot
Örebro University, School of Science and Technology. (CAD Technology)
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 [en]
Geometric Reverse Engineering, Industrial robot, Laser profile scanner, Segmentation, Fitting
National Category
Engineering and Technology
Research subject
Mechanical Engineering
Identifiers
URN: urn:nbn:se:oru:diva-10999ISBN: 978-91-7668-738-3 (print)OAI: oai:DiVA.org:oru-10999DiVA: diva2:323426
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
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, Published 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: 2017-10-18Bibliographically 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, 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.

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: 2017-10-18Bibliographically approved
3. An integrated platform for 3D measurement with geometric reverse engineering
Open this publication in new window or tab >>An integrated platform for 3D measurement with geometric reverse engineering
2009 (English)In: Computer-Aided Design and Applications, ISSN 1686-4360, Vol. 6, no 6, 877-887 p.Article in journal (Refereed) Published
Abstract [en]

Geometric Reverse Engineering (GRE) can be described as the process of fitting surfaces to point data and connecting them to topologically well defined CAD models. We have mounted a laser profile scanner on an industrial robot with a turntable and interfaced them to an Open Source CAD platform. With this tool we have developed an integrated system that can automatically plan and control the robot movements needed to measure an object of unknown shape. Details of this work have been published earlier but we have not described the platform used to integrate the hardware with the GRE software. This paper illustrates the multi disciplinary nature of that problem and investigates what the requirements are for a suitable CAD tool.

Place, publisher, year, edition, pages
USA: CAD Solutions, LLC, 2009
Keyword
geometric reverse engineering, 3D measurement system, CAD tool
National Category
Engineering and Technology
Research subject
Computerized Image Analysis; Numerical Analysis; Computer Technology
Identifiers
urn:nbn:se:oru:diva-7516 (URN)10.3722/cadaps.2009.877-887 (DOI)
Projects
Geometric Modeling based on Automatic data Capture "GMAC"
Note

www.candada.com

Available from: 2009-09-04 Created: 2009-07-29 Last updated: 2017-10-18Bibliographically approved
4. 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
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
Keyword
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:nbn:se:oru:diva-7517 (URN)10.1007/s00170-009-1951-9 (DOI)000270450100019 ()2-s2.0-70350558470 (Scopus ID)
Projects
Geometric Modeling based on Automatic data Capture "GMAC"
Available from: 2009-09-04 Created: 2009-07-29 Last updated: 2017-12-13Bibliographically approved
5. Quadric segmentation and fitting of data captured by a laser profile scanner mounted on an industrial robot
Open this publication in new window or tab >>Quadric segmentation and fitting of data captured by a laser profile scanner mounted on an industrial robot
2010 (English)In: The International Journal of Advanced Manufacturing Technology, ISSN 0268-3768, E-ISSN 1433-3015, Vol. 52, no 1-4, 155-169 p.Article in journal (Refereed) Published
Abstract [en]

Applications like geometric reverse engineering, robot vision and automatic inspection require sets of points to be measured from the surfaces of objects and then processed by segmentation and fitting algorithms to establish shape parameters of interest. In industrial applications where speed, reliability and automatic operation is of interest a measuring system based on a laser profile scanner mounted on an industrial robot can be of interest. In earlier publications we have presented such a system and also a segmentation algorithm for planar surfaces using 2D profile data in combination with robot poses. Due to the data reduction offered by this approach the segmentation algorithm computes faster than algorithms based on 3D point sets alone. Encouraged by the results we have now developed a segmentation algorithm for two different quadric surfaces also based on 2D profiles in combination with robot poses. This paper presents the new algorithm together with test results and also an interesting observation that points to future work.

Place, publisher, year, edition, pages
Berlin: Springer London, 2010
Keyword
3D measurement system, Laser profile scanner, Segmentation, Fitting, Ellipse
National Category
Manufacturing, Surface and Joining Technology Computational Mathematics
Research subject
Automatic Control; Mechanical Engineering
Identifiers
urn:nbn:se:oru:diva-10844 (URN)10.1007/s00170-010-2713-4 (DOI)000286200400014 ()2-s2.0-79751526954 (Scopus ID)
Projects
Geometric Modeling based on Automatic data Capture
Available from: 2010-06-07 Created: 2010-05-28 Last updated: 2017-12-12Bibliographically approved

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Rahayem, Mohamed

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