A 3D seam extraction and tracking method based on binocular structured light sensor

Lu Chen; Xiaohan Li; Xiang Zhou

doi:10.1117/12.2573270

12 June 2020 A 3D seam extraction and tracking method based on binocular structured light sensor

Lu Chen, Xiaohan Li, Xiang Zhou

Author Affiliations +

Proceedings Volume 11519, Twelfth International Conference on Digital Image Processing (ICDIP 2020); 115191Y (2020) https://doi.org/10.1117/12.2573270
Event: Twelfth International Conference on Digital Image Processing, 2020, Osaka, Japan

Abstract

To make the robot automatic welding systems more automatic and accurate, the 3D weld seam extraction has become a research hot-spot. In this paper, a seam extraction method for five types of straight-line seam based on point cloud obtained by three-dimensional reconstruction of binocular structured light is proposed. Firstly, the second derivative is used to calculate the inflection point for the rough extraction of seam characteristics. Secondly, according to the shape information of the welding workpiece, the center point of the seam is detected and the least square algorithm is used to fit the seam model. Finally, the 3D welding spot position and pose estimation are solved based on the established mathematical model. The experiments are conducted under five different situations, and the average extraction accuracy of the method can reach 0.19mm. The experimental results indicate that the proposed algorithm can efficiently locate five types of seam and generate the tracking path planning to guide robot manipulation.

Citation Download Citation

Lu Chen, Xiaohan Li, and Xiang Zhou "A 3D seam extraction and tracking method based on binocular structured light sensor", Proc. SPIE 11519, Twelfth International Conference on Digital Image Processing (ICDIP 2020), 115191Y (12 June 2020); https://doi.org/10.1117/12.2573270

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

;

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE