Author Affiliations
1The Engineering Research Center for Intelligent Robotics, Jihua Laboratory, Foshan 538000, Guangdong , China2School of Physics and Optoelectronic Engineering, Xidian University, Xi’an 710000, Shaanxi , Chinashow less
Fig. 1. Extraction process of laser fringe centerline
Fig. 2. Workpiece and line laser image.(a) Workpiece;(b) line laser image; (c) image processed by adaptive gamma transform algorithm
Fig. 3. Double threshold optical strip segmentation
Fig. 4. Subpixel coordinate extraction. (a) Normal direction of centerline; (b) subpixel precision centerline
Fig. 5. Flow chart of algorithm
Fig. 6. Flow chart of nearest neighbor search algorithm
Fig. 7. Diagram of nearest neighbor search
Fig. 8. Experimental system image. (a) Measuring system; (b) scanning metal workpiece
Fig. 9. Ten frames of continuous stripe pattern. (a) Frame 1; (b) frame 2; (c) frame 3; (d) frame 4; (e) frame 5; (f) frame 6; (g) frame 7; (h) frame 8; (i) frame 9; (j) frame 10
Fig. 10. Root mean square error distribution of each method
Fig. 11. 3D reconstruction of welding workpiece. (a) Metal workpiece; (b) 3D point cloud
Fig. 12. 3D reconstruction of complex workpiece. (a) Metal workpiece; (b) 3D point cloud
Search combination | search abort condition | search abort condition | value | value |
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、 | | | | | 、 | | | | | 、 | | | | | 、 | | | | | 、 | | | -1 | -1 |
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Table 1. Corresponding value for different search combinations
Number | Method | Average time /ms |
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1 | Steger | 127.39 | 2 | Gray centroid method | 28.75 | 3 | Adaptive segmentation method | 33.51 | 4 | Proposed method | 18.78 |
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Table 2. Running time of different methods
Number | Method | Standard deviation mean /pixel |
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1 | Steger | 0.01981 | 2 | Gray centroid method | 0.02825 | 3 | Adaptive segmentation method | 0.00506 | 4 | Proposed method | 0.00235 |
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Table 3. Error analysis