A Fast 3D Surface Reconstruction Method for Spraying Robot with time-of-flight camera

	A Fast 3D Surface Reconstruction Method for Spraying Robot with time-of-flight camera
	Chai, Xiaojie; Wen, Feng; Cao, Xuewei; Yuan, Kui
	2013
会议名称	2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)
会议录名称	IEEE International Conference on Mechatronics and Automation ( ICMA)
页码	57-62
会议日期	2013
会议地点	Japan
摘要	In this paper a new fast 3D surface reconstruction method for spraying robot using TOF (time-of-flight) camera is proposed. The TOF camera can provide 3D points defined in the sensor coordination directly in real time. While fixed on the robot, the TOF camera position and orientation can be estimated and the 3D points can be translated to world coordinate system. An improved fast data acquiring and pre-processing method with TOF camera is proposed to get the point cloud accurately and quickly. In order to obtain 3D faces with given accuracy tolerance from scattered point cloud data rapidly, we present a fast grid building and face extracting algorithm based on flexible cubes. Region segmentation is also need to divide the model to several planes, which making the following path-planning of spraying robot easier. Finally experimental software called Quick RE with friendly man-machine interaction has been developed and the experiment results demonstrate the accuracy and robustness of the proposed algorithm in factory.
关键词	Surface Reconstruction Tof Camera Spraying Robot
收录类别	CPCI-T
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/5251
专题	智能制造技术与系统研究中心_智能机器人
通讯作者	Chai, Xiaojie
推荐引用方式 GB/T 7714	Chai, Xiaojie,Wen, Feng,Cao, Xuewei,et al. A Fast 3D Surface Reconstruction Method for Spraying Robot with time-of-flight camera[C],2013:57-62.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
A Fast 3D Surface Re（2038KB）	会议论文		开放获取	CC BY-NC-SA	浏览下载