A method for determining local coordinate frames attached to objects by a laser profile sensor in industrial robot workspaces

Turgut, Kaya; Dutağacı, Helin; Soyleyici, Cansu; Secil, Sezgin; Özkan, Metin; Parlaktuna, Osman; Parlaktuna, Mustafa

doi:10.1109/icarsc.2017.7964085

Cited by 3 publications

(2 citation statements)

References 9 publications

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“…Though we can employ various methods for implementing our processing pipeline, it is challenging to look for a general solution for real industrial needs. The available strategies suppose substantial limitations to the number or shape of the scanned objects [ 9 ]. Concerning a general-purpose, no well-known image registration method has been found that is suitable for our purposes.…”

Section: Introductionmentioning

confidence: 99%

Shape-Based Alignment of the Scanned Objects Concerning Their Asymmetric Aspects

Lúčny

Dillinger

Kacurova

et al. 2021

Sensors

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We introduce an integrated method for processing depth maps measured by a laser profile sensor. It serves for the recognition and alignment of an object given by a single example. Firstly, we look for potential object contours, mainly using the Retinex filter. Then, we select the actual object boundary via shape comparison based on Triangle Area Representation (TAR). We overcome the limitations of the TAR method by extension of its shape descriptor. That is helpful mainly for objects with symmetric shapes but other asymmetric aspects like squares with asymmetric holes. Finally, we use point-to-point pairing, provided by the extended TAR method, to calculate the 3D rigid affine transform that aligns the scanned object to the given example position. For the transform calculation, we design an algorithm that overcomes the Kabsch point-to-point algorithm’s accuracy and accommodates it for a precise contour-to-contour alignment. In this way, we have implemented a pipeline with features convenient for industrial use, namely production inspection.

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Section: Introductionmentioning

confidence: 99%

Shape-Based Alignment of the Scanned Objects Concerning Their Asymmetric Aspects

Lúčny

Dillinger

Kacurova

et al. 2021

Sensors

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“…These studies have been more concerned with geometry measurement, but pose measurement is less discussed. In the research of Turgut et al [24], a laser scanning sensor mounted to a robot was employed to scan the specific rectangular and circular features on the part to obtain the posture. However, this method requires further machining of specific features on the surface of the object to be measured, which is usually unacceptable in actual engineering.…”

Section: Introductionmentioning

confidence: 99%

An Improved Robust Method for Pose Estimation of Cylindrical Parts with Interference Features

Zhang

Qiu

et al. 2019

Sensors

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Horizontal docking assembly is a fundamental process in the aerospace assembly, where intelligent measurement and adjustable support systems are urgently needed to achieve higher automation and precision. Thus, a laser scanning approach is employed to obtain the point cloud from a laser scanning sensor. And a method of section profile fitting is put forward to solve the pose parameters from the data cloud acquired by the laser scanning sensor. Firstly, the data is segmented into planar profiles by a series of parallel planes, and ellipse fitting is employed to estimate each center of the section profiles. Secondly, the pose of the part can be obtained through a spatial straight line fitting with these profile centers. However, there may be some interference features on the surface of the parts in the practical assembly process, which will cause negative effects to the measurement. Aiming at the interferences, a robust method improved from M-estimation and RANSAC is proposed to enhance the measurement robustness. The proportion of the inner points in a whole profile point set is set as a judgment criterion to validate each planar profile. Finally, a prototype is fabricated, a series of experiments have been conducted to verify the proposed method.

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Surface profile-guided scan method for autonomous 3D reconstruction of unknown objects using an industrial robot

et al. 2021

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A method for determining local coordinate frames attached to objects by a laser profile sensor in industrial robot workspaces

Cited by 3 publications

References 9 publications

Shape-Based Alignment of the Scanned Objects Concerning Their Asymmetric Aspects

Shape-Based Alignment of the Scanned Objects Concerning Their Asymmetric Aspects

An Improved Robust Method for Pose Estimation of Cylindrical Parts with Interference Features

Surface profile-guided scan method for autonomous 3D reconstruction of unknown objects using an industrial robot

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