A Robot-Assisted Back-Imaging Measurement System for Transparent Glass

摘要: Though the 3-D sensing technique has achieved many successes in various applications, it is still a challenge for commercialized sensors to measure shape of transparent, mirror-like reflection-based glass surface. The reason that well-known triangle-based structure lighting method only valid parts with diffuse reflection property. To profile surface, specially an automotive windshield, new robot-assisted back-imaging system introduced this paper. Using mirror property glass, encoded patterns are projected from LCD monitor and recorded by two cameras. distortion structured light patterns, caused curvature used calculate shape. Different traditional methods, can simultaneously both coordinates normal which particularly required industry. Furthermore, paper also introduces robot planning/control integrates measurement constraints, vision model sensor, computer-aided design together automatically move sensor measurement. proposed methods have been implemented, installed on ABB measuring side-door glass. Experimental results reported analyzed.