{"title":"An analysis of the geometry of light-striping vision systems for feedrate control in robot welding and other industrial processes","authors":"Lynn R. Ziegler, Richard C. Dorf","doi":"10.1016/0167-8493(87)90004-0","DOIUrl":null,"url":null,"abstract":"<div><p>Light-stripping, whereby a laser or other source of a stripe of light in conjunction with a single camera can provide three-dimensional information of a scene, can be used to estimate the volume of a seam gap for welding, filling, or gluing robots, and thus provide automated feedrate control. The geometry of light-striping systems is analyzed to yield an efficient method to map the locations of stripe pixels in the image to three-dimensional coordinates. Methods are discussed to determine fill-points by recognizing the pattern produced by seam walls despite noise. Combined with computation of areas and volumes, the steps simplify to an effective algorithm for microprocessor implementation.</p></div>","PeriodicalId":37568,"journal":{"name":"Robotics","volume":"3 2","pages":"Pages 167-173"},"PeriodicalIF":2.9000,"publicationDate":"1987-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1016/0167-8493(87)90004-0","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Robotics","FirstCategoryId":"1085","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/0167849387900040","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
Light-stripping, whereby a laser or other source of a stripe of light in conjunction with a single camera can provide three-dimensional information of a scene, can be used to estimate the volume of a seam gap for welding, filling, or gluing robots, and thus provide automated feedrate control. The geometry of light-striping systems is analyzed to yield an efficient method to map the locations of stripe pixels in the image to three-dimensional coordinates. Methods are discussed to determine fill-points by recognizing the pattern produced by seam walls despite noise. Combined with computation of areas and volumes, the steps simplify to an effective algorithm for microprocessor implementation.
期刊介绍：
Robotics publishes original papers, technical reports, case studies, review papers and tutorials in all the aspects of robotics. Special Issues devoted to important topics in advanced robotics will be published from time to time. It particularly welcomes those emerging methodologies and techniques which bridge theoretical studies and applications and have significant potential for real-world applications. It provides a forum for information exchange between professionals, academicians and engineers who are working in the area of robotics, helping them to disseminate research findings and to learn from each other’s work. Suitable topics include, but are not limited to: -intelligent robotics, mechatronics, and biomimetics -novel and biologically-inspired robotics -modelling, identification and control of robotic systems -biomedical, rehabilitation and surgical robotics -exoskeletons, prosthetics and artificial organs -AI, neural networks and fuzzy logic in robotics -multimodality human-machine interaction -wireless sensor networks for robot navigation -multi-sensor data fusion and SLAM
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