TY - GEN
T1 - A 3-D tube scanning technique based on axis and center alignment of multi-laser triangulation
AU - Baek, Seung Hae
AU - Park, Soon Yong
PY - 2011
Y1 - 2011
N2 - This paper presents a novel 3D tube scanning technique based on a multi-laser triangulation. A multi-laser and camera module, which will be mounted in front of a mobile robot, captures a sequence of 360 degree shapes of the inner surface of a cylindrical tube. In each scan of the sequence, a circular shape, which is composed of four partial ellipses, is reconstructed from a multilaser triangulation technique. To reconstruct a complete shape of the tube, the center and axis of the circular shape in each scan are aligned to a common tube model. To overcome inherent alignment noises due to off-axis robot motion, sensor vibration, and etc., we derive and apply a 3D Euclidean transformation matrix in each scan. In experimental results, we show that the proposed technique reconstructs very accurate 3D shapes of a tube even though there is motion vibration.
AB - This paper presents a novel 3D tube scanning technique based on a multi-laser triangulation. A multi-laser and camera module, which will be mounted in front of a mobile robot, captures a sequence of 360 degree shapes of the inner surface of a cylindrical tube. In each scan of the sequence, a circular shape, which is composed of four partial ellipses, is reconstructed from a multilaser triangulation technique. To reconstruct a complete shape of the tube, the center and axis of the circular shape in each scan are aligned to a common tube model. To overcome inherent alignment noises due to off-axis robot motion, sensor vibration, and etc., we derive and apply a 3D Euclidean transformation matrix in each scan. In experimental results, we show that the proposed technique reconstructs very accurate 3D shapes of a tube even though there is motion vibration.
UR - http://www.scopus.com/inward/record.url?scp=80052159339&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-23687-7_65
DO - 10.1007/978-3-642-23687-7_65
M3 - Conference contribution
AN - SCOPUS:80052159339
SN - 9783642236860
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 724
EP - 735
BT - Advanced Concepts for Intelligent Vision Systems - 13th International Conference, ACIVS 2011, Proceedings
T2 - 13th International Conference on Advanced Concepts for Intelligent Vision Systems, ACIVS 2011
Y2 - 22 August 2011 through 25 August 2011
ER -