Best ellipse and cylinder parameters estimation from laser profile scan sections

Rahayem, Mohamed; Werghi, Naoufel; Kjellander, Johan

doi:10.1016/j.optlaseng.2012.03.014

Cited by 27 publications

(20 citation statements)

References 51 publications

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“…In approximate problems, Yu-cun Zhang et al [21] proposed a method of structured light scanning for the geometric measurement of cylindrical forgings, but pose measurement is not discussed. Measurement accuracy for cylinders by laser scanning is discussed in the works of Rahayem et al [22,23]. They evaluated the accuracy of ellipse fitting about the incomplete elliptical arcs obtained by laser scanning.…”

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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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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“…In the metallurgical and metalworking industry, the dimensions of bars and tubes, especially the profile size, are very important, such as diameter, roundness, and straightness, and other product parameters must rely on profile measurement. In general, contact measurement and noncontact measurement [1][2][3][4][5] are used for the profile size of bars. Machine vision is an important method of noncontact measurement.…”

Section: Introductionmentioning

confidence: 99%

Using Hampel Identifier to Eliminate Profile-Isolated Outliers in Laser Vision Measurement

et al. 2019

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In this paper, the profile of the bar is detected by laser vision technology. During the detection process, obvious isolated outliers can be observed in the profile data; dimension parameter and profile-fitting accuracy are seriously affected by these outliers. In order to eliminate these outliers and improve the measurement accuracy, this paper uses Hampel identifier and moving mean identifier to identify isolated outliers. At the same time, the profile data is fitted, and the fitting results and fitting accuracy were analyzed and compared between the original data and the renovated data. The experiment proves that the outliers in the data must be identified and processed in the data measurement process. The Hampel identifier has better recognition effect, its algorithm is simple, efficient, and robust, and it can play an important role in the preprocessing of profile data based on structured light.

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“…Rahayem et al conducted comparative research including the popular ellipse-fitting methods from the laser profile-scan sections. (13) The method can be applied in robot-aided welding, automatic inspection, and 3D reconstruction, which require the 3D points to be captured from the surfaces of objects. Ha proposed a calibration structure that has a triangular hole on its plane, which is used for the extrinsic calibration of a camera and the laser range finder.…”

Section: Introductionmentioning

confidence: 99%

Optimization Solution of Laser Plane Generated from Maximum Likelihood Estimation of Projection Plane

2018

Sensors and Materials

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An enhanced solution method that based on the maximum likelihood estimation (MLE) of the projection plane is proposed. The method utilizes a 2D target and an optimization process to achieve a higher accuracy and noise immunity. The projection plane is parameterized by the laser plane coordinates. The maximum likelihood function is obtained from the stochastic vector of the projection planes in the camera coordinate system. The coordinates of the laser plane are achieved by the optimization process. The MLE method is compared with the original method. The experimental results reveal the relative error reductions of 18.97, 19.81, 21.22, and 21.60% under the test distances of 200, 300, 400, and 500 mm, respectively. Moreover, for the images under noise, the results show the relative error reductions of 20.06, 18.77, 19.64, and 20.35%, respectively. The experimental results suggest that the MLE of the projection plane would be useful to improve the measurement accuracy of active vision in both fundamental research and potential applications.

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Best ellipse and cylinder parameters estimation from laser profile scan sections

Cited by 27 publications

References 51 publications

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

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

Using Hampel Identifier to Eliminate Profile-Isolated Outliers in Laser Vision Measurement

Optimization Solution of Laser Plane Generated from Maximum Likelihood Estimation of Projection Plane

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