Fast and robust laser stripe extraction for 3D reconstruction in industrial environments
Fast and robust laser stripe extraction for 3D reconstruction in industrial environments
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DOI：
10.1007/s00138-010-0288-6
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发表时间：
2012-01-01
影响因子：
3.3
通讯作者：
Garcia, Daniel F.
中科院分区：
文献类型：
--
作者：
Usamentiaga, Ruben;Molleda, Julio;Garcia, Daniel F.
基于主动激光三角测量技术的三维重建在工业环境中的应用是非常复杂的。主要问题是，这些技术大多基于激光条纹提取方法，对噪声高度敏感，这在这些条件下几乎是不可避免的。在工业环境中，可变亮度、在图像中显示为噪声的反射和不均匀的表面是常见的。这些因素改变了激光轮廓的形状。本文提出了一种快速、准确、鲁棒的工业激光条纹提取方法。提出了具体的方法来提取投影在背景上的激光条纹，使用边界连接过程，在前景上，使用改进的分裂和合并方法，使用不同的近似函数，包括线性、二次和Akima样条。同时，提出了一种自动定义图像感兴趣区域的方法。通过测量应用中所涉及的任务所花费的时间，分析了所提方法的实时性。最后，将该提取方法应用于钢带三维重建和焊缝跟踪两种实际应用。
The use of 3D reconstruction based on active laser triangulation techniques is very complex in industrial environments. The main problem is that most of these techniques are based on laser stripe extraction methods which are highly sensitive to noise, which is virtually inevitable in these conditions. In industrial environments, variable luminance, reflections which show up in the images as noise, and uneven surfaces are common. These factors modify the shape of the laser profile. This work proposes a fast, accurate, and robust method to extract laser stripes in industrial environments. Specific procedures are proposed to extract the laser stripe projected on the background, using a boundary linking process, and on the foreground, using an improved Split-and-Merge approach with different approximation functions including linear, quadratic, and Akima splines. Also, a novel procedure to automatically define the region of interest in the image is proposed. The real-time performance of the proposed method is analyzed by measuring the time taken by the tasks involved in their application. Finally, the proposed extraction method is applied to two real applications: 3D reconstruction of steel strips and weld seam tracking.