3-D Measurement and Reconstruction of Workpieces in Robotic Stereovision System

He Xi Li; J.J. Zhang

doi:10.4028/www.scientific.net/AMM.743.783

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 7433-D Measurement and Reconstruction of Workpieces...

3-D Measurement and Reconstruction of Workpieces in Robotic Stereovision System

Abstract:

An epipolar line constraint equation for robotic binocolar stereovision (BSV) is first established for the measurement and reconstruction of workpiece surface, in which the intrinsic parameters of two cameras and their extrinsic structural parameters with respect to a robotic reference base are included. To determine a sole matching point between left and right images, a laser emmiter is added to BSV to form a stripe on workpiece surface, experimental results show that the measurement accuracy of 3-dimensional (3-D) workpiece surface can be improved by combining epipolar line constraint with laser stripe projection, and the 3-D workpiece surface can be reconstructed with less errors.

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Periodical:

Applied Mechanics and Materials (Volume 743)

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783-786

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.743.783

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Online since:

March 2015

Authors:

He Xi Li, J.J. Zhang

Keywords:

Epipolar Constraint, Laser Stripe, Reconstruction, Stereovision

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