This paper presents a novel scheme for automatic and intelligent 3D digitization using robotic cells. The advantage of our procedure is that it is generic since it is not performed for a specific scanning technology. Moreover, it is not dependent on the methods used to perform the tasks associated with each elementary process. The comparison of results between manual and automatic scanning of complex objects shows that our digitization strategy is very efficient and faster than trained experts. The 3D models of the different objects are obtained with a strongly reduced number of acquisitions while moving efficiently the ranging device.
KEYWORDS: 3D modeling, Scanners, Solid modeling, Data acquisition, 3D acquisition, Sensors, Data modeling, Inspection, Computer aided design, Visibility
The goal of this work is to develop a complete and automatic scanning system with minimum prior information. We aim
to establish a methodology for the automation of the 3D digitization process. The paper presents a method based on the
evolution of the Bounding Box of the object during the acquisition. The registration of the data is improved through the
modeling of the positioning system. The obtained models are analyzed and inspected in order to evaluate the robustness of
our method. Tests with real objects have been performed and results of digitization are provided.
This paper presents a complete system for 3D digitization of objects assuming no prior knowledge on its shape. The
proposed methodology is applied to a digitization cell composed of a fringe projection scanner head, a robotic arm with
6 degrees of freedom (DoF), and a turntable. A two-step approach is used to automatically guide the scanning process.
The first step uses the concept of Mass Vector Chains (MVC) to perform an initial scanning. The second step directs the
scanner to remaining holes of the model. Post-processing of the data is also addressed. Tests with real objects were
performed and results of digitization length in time and number of views are provided along with estimated surface
coverage.
KEYWORDS: 3D modeling, Scanners, 3D acquisition, Solid modeling, Sensors, Model-based design, Computer aided design, 3D image processing, Data modeling, 3D scanning
This paper presents a simulation of automatic 3D acquisition and post-processing pipeline. The proposed methodology
is applied to a LASER triangulation based scanner and a 6 degrees of freedom (DOF) robotic arm simulation.
The viewpoints are computed by solving a set covering problem to reduce the number of potential
positions. The quality of the view plan is determined by its length and the percentage of area of the object's
surface it covers. Results are presented and discussed on various shapes. The article also presents future work
concerning the implementation of the proposed method on a real system.
KEYWORDS: Clouds, Scanners, Laser scanners, 3D metrology, Head, Laser systems engineering, 3D modeling, Visualization, Temperature metrology, Laser development
During industrial forging of big hot metallic shells, it is necessary to regularly measure the dimensions of the parts,
especially the inner and outer diameters and the thickness of the walls, in order to decide when to stop the forging
process. The inner and outer diameters of the shells range from 4 to 6 meters and to measure them a large ruler is placed
horizontally at the end of the shell. Two blacksmiths standing on each side of the ruler at about ten meters from it
visually reads the graduations on the ruler in order to determine the inner and outer diameters from which the thickness
of the wall is determined. This operation is carried out several times during a forging process and it is very risky for the
blacksmiths due to the high temperature of the shell when the measurement is done. Also, it is error prone and the result
is rather inaccurate. In order to improve the working conditions, for the safety of the blacksmiths, and for a faster and
more accurate measurement, a system based on two commercially available Time Of Flight (TOF) laser scanners for the
measurement of cylindrical shell diameters during the forging process has been developed. The advantages of using laser
scanners are that they can be placed very far from the hot shell, more than 15 meters, while at the same time giving an
accurate point cloud from which 3D views of the shell can be reconstructed and diameter measurements done.
Moreover, better dimensional measurement accuracy is achieved in less time with the laser system than with the
conventional method using a large ruler. The system has been successfully used to measure the diameter of cold and hot
cylindrical metallic shells.
We present a new efficient method for calibration of catadioptric sensors. The method is based on an accurate measurement of the three-dimensional parameters of the mirror through polarization imaging. While inserting a rotating polarizer between the camera and the mirror, the system is automatically calibrated without any calibration patterns. Moreover, this method permits most of the constraints related to the calibration of catadioptric systems to be relaxed. We show that, contrary to our system, the traditional methods of calibration are very sensitive to misalignment of the camera axis and the symmetry axis of the mirror. From the measurement of three-dimensional parameters, we apply the generic calibration concept to calibrate the catadioptric sensor. We also show the influence of the disturbed measurement of the parameters on the reconstruction of a synthetic scene. Finally, experiments prove the validity of the method with some preliminary results on three-dimensional reconstruction.
KEYWORDS: 3D modeling, 3D acquisition, 3D scanning, Mathematical modeling, Error analysis, 3D metrology, Edge detection, Manufacturing, Data modeling, Prototyping
In this paper, we are interested in accurate acquisition and modeling of flint artefacts. Archaeologists needs accurate
geometry measurements to refine their understanding of the flint artefacts manufacturing process. Current techniques
require several operations. First, a copy of a flint artefact is reproduced. The copy is then sliced. A picture is taken for
each slice. Eventually, geometric information is manually determined from the pictures. Such a technique is very time
consuming, and the processing applied to the original, as well as the reproduced object, induces several measurement
errors (prototyping approximations, slicing, image acquisition, and measurement). By using 3D scanners, we
significantly reduce the number of operations related to data acquisition and completely suppress the prototyping step to
obtain an accurate 3D model. The 3D models are segmented into sliced parts that are then analyzed. Each slice is then
automatically fitted by mathematical representation. Such a representation offers several interesting properties:
geometric features can be characterized (e.g. shapes, curvature, sharp edges, etc), and a shape of the original piece of
stone can be extrapolated. The contributions of this paper are an acquisition technique using 3D scanners that strongly reduces human intervention, acquisition time and measurement errors, and the representation of flint artefacts as mathematical 2D sections that enable accurate analysis.
Most of the automation for 3D acquisition concerns objects with simple shape, like mechanical parts. For cultural
heritage artefacts, the process is more complex, and it doesn't exist general solution nowadays. This paper presents a
method to generate a complete 3D model of cultural heritage artefacts. In a first step, MVC is used to solve the view
planning problem. Then, holes remaining in 3D model are detected, and their features are calculated to finish acquisition.
Different post-processing are applied on each view to increase quality of the 3D model. This procedure has been tested
with simulated scanner, before being implemented on a motion system with five degrees of freedom.
A new efficient method of calibration for catadioptric sensors is presented in this paper. It is based on an accurate measurement of the three-dimensional parameters of the mirror by means of polarization imaging. While inserting a rotating polarizer between the camera and the mirror, the system is automatically calibrated without and calibration patterns. Moreover it permits to relax most of the constraints related to the calibration of the catadioptric systems. We show that contrary to our system, the traditional methods of calibration are very sensitive to misalignment of the camera axis and the symmetry axis of the mirror. From the measurement of three-dimensional parameters, we apply the generic calibration concept to calibrate the catadioptric sensor. The influence of the disturbed measurement of the parameters on the reconstruction of a synthetic scene is also presented. Finally, experiments prove the validity of the method with some preliminary results on three-dimensional reconstruction.
Specular surfaces inspection remains a delicate task within the automatic control of products made by plastic plating. These objects are of very varied shape and their surface is highly reflective acting like a mirror. This paper presents steps to follow in order to detect geometric aspect surface defects on objects made by plastic plating. The projection of a binary fringes pattern is used and enables to reveal the defects near the transition between a dark fringe and a bright fringe. Indeed, the surface imperfections provoke important light rays deviations. By moving this dynamic lighting, and thanks to a saturated camera, the system brings an aspect image where the defects appear very contrasted on a dark background. A simple image processing algorithm is then applied leading to a very efficient segmentation. To obtain such resulting images, the translation step, the duty cycle and also the number of images are constraint. This article finally shows how to adjust these parameters according to the various sizes of defect and to the objects shape.
KEYWORDS: 3D modeling, 3D acquisition, Scanners, Cultural heritage, Data modeling, Motion models, 3D scanning, Sensors, Data acquisition, Optical spheres
Most of the automation for 3D acquisition concerns objects with simple shape, like mechanical parts. For cultural
heritage artefacts, the process is more complex, and it doesn't exist general solution nowadays. This paper presents a
method to generate a complete 3D model of cultural heritage artefacts. In a first step, MVC is used to solve the view
planning problem. Then, holes remaining in 3D model are detected, and their features are calculated to finish acquisition.
Different post-processing are applied on each view to increase quality of the 3D model. This procedure has been tested
with simulated scanner, before being implemented on a motion system with five degrees of freedom.
KEYWORDS: Veins, Near infrared, 3D modeling, 3D image processing, Cameras, Skin, 3D acquisition, Light emitting diodes, Image processing, Structured light
Vein localization and catheter insertion constitute the first and perhaps most important phase of many medical procedures. Currently, catheterization is performed manually by trained personnel. This process can prove problematic, however, depending upon various physiological factors of the patient. We present in this paper initial work for localizing surface veins via near-infrared (NIR) imaging and structured light ranging. The eventual goal of the system is to serve as the guidance for a fully automatic (i.e., robotic) catheterization device. Our proposed system is based upon near-infrared (NIR) imaging, which has previously been shown effective in enhancing the visibility of surface veins. We locate the vein regions in the 2D NIR images using standard image processing techniques. We employ a NIR line-generating LED module to implement structured light ranging and construct a 3D topographic map of the arm surface. The located veins are mapped to the arm surface to provide a camera-registered representation of the arm and veins. We describe the techniques in detail and provide example imagery and 3D surface renderings.
A complete and practical range image sensor development is presented in this paper: from the mathematical modeling to the shape reconstruction. This scanner aims to be integrated in a larger collaborative project. The nal goal is to provide a framework to allow easy comparisons of ancient wooden items by historians. Motivations and expected results are clearly stated in accordance to nancial and easy-to-use constraints. In order to alleviate the calibration process a new calibrating pattern is proposed. The pattern allow both calibration of camera and projector. The method is validated with experimental results. Experimental results are given for the calibration process and the range image acquisition. These results have been performed on both real and synthetic data, which allows us to comment quantitative performances as well as qualitative ones. They are quite encouraging and satisfactory.
This paper presents various applications of machine vision systems. These systems are used at four strategic points in a company manufacturing pipes for the nuclear industry. For each system, the vision problematic is presented including the industrial constraints, then, the proposed solution is detailed (acquisition conditions, image processing algorithms...), finally, the implementation on the industrial line is described and results are discussed. The first system used in the R&D department controls tube deformation under high pressure and high temperature conditions. The second vision system deals with the surface inspection of outer part as well as inner part of the tubes for scratches as well as oxidation mark detection. After the lamination, tubes are heated to release the mechanical constraints which took place during the lamination process. During the heating, oxidation may occur. Based on color analysis, a machine vision system was developed to measure the oxidation time. Once manufactured, tubes are thoroughly cleaned by air propulsed plugs and packaged in boxes. A system which detects any missing or occluded tubes was realized. The results show that the nuclear industry can take important benefits from machine vision systems. The four validated and implemented applications give satisfactory results and are currently used in the factory.
This work aims at detecting defects on metallic industrial parts with streaked surface. The orientation of those parallel streaks is totally random. The searched defects are scratch and lack of machining. A specific machine vision system has been designed to deal with the particular inspected surface features. One image is acquired with an annular lighting in bright field and six images are acquired with a rotating lighting in dark field. A particular image processing is applied on the six images in order to get one image that represents all the revealed imperfections. A thresholding processing is then applied on this image in order to segment the imperfections. A trained classification, created with well known typical objects of each class, is performed. The classification has to recognize the different defects and the small imperfections that are not defects. The decision phase is used to know if the defects are acceptable, and therefore if the inspected part is acceptable. Some acceptability rules are defined for every defect class. The developed machine vision system has been implemented on an experimental industrial production line and it gives 2% of sub-detection and 16% of over-detection.
This paper deals with the analysis of ancient wooden stamps. The aim is to extract a binary image from the stamp. This image must be the closer to the image produced by inking and using a printing press with the stamps. A range image based method is proposed to extract a stamped image from the stamps. The range image acquisition from a 3D laser scanner is presented. Pre-filtering for range image enhancement is detailed. The range image binarization method is based on an adaptive thresholding. Few simple processes applied on the range image enable a final binarized image computing. The proposed method provides here a very efficient way to perform "virtual" stampings with ancient wooden stamps.
This work aims at detecting surface defects on reflecting industrial parts. A machine vision system, performing the detection of geometric aspect surface defects, is completely described. The revealing of defects is realized by a particular lighting device. It has been carefully designed to ensure the imaging of defects. The defects segmentation is then straightforward and fast to compute. The imaging conditions have been particularly studied because they influence strongly the quality of acquired images and consequently the quality of image processing results. These imaging conditions are often the fact of experiments: numerous attempts on lighting features and on the relative positions between the cameras, the lighting and the object are still necessary. To bring help in the conception of these imaging conditions, a complete simulation is proposed. The imaging and lighting system has been completely modeled. The simulation, based on computer graphics, enables here the rendering of realistic images. Simulation provides a very efficient way of conception which is applied to the design of a machine vision prototype.
Specular surfaces inspection is a problem met frequently within the automatic control of metallic products. A tried technique to reveal the aspect defects is the imaging of the reflection of a structured lighting as Dark Field Illumination through the surface. In order to inspect the whole surface, an element of the lighting structure has to scan every part of the surface. In the case of important surface curvature gradients, entire scanning is not ensured if the object is moving in front of the static lighting. To overcome this limitation, an inverse process is proposed: the lighting structure is dynamic while the object is static. The scanning of the surface by the various lighting configurations enables the aspect control. A modeling of the surface to be inspected and defects to be detected is made. Inverse ray tracing is used to analyze the reflection of the lighting through the surface. This modeling enables to ensure the revealing of defects by respecting the chosen criteria of detection. A relation binding the physical size of defects and its size on the image is established. A metrological approach of the problem is then performed.
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