2A1-C04 回転走査型合焦断面法による三次元物体計測の精度評価

概要

論文の詳細を見る
We devised a new shape-from-focus method useful for modeling a robotic work space. In the new method of focused-plane sectioning, the focused-plane was rotated around the axis of rotation to be able to scan omni-directionally and obtain panoramic range data on the space where objects were located. Astigmatism of an image-taking lens was a major factor of systematic errors in detection of the 3-D coordinates of the objects. The errors depended on direction of each contour of the objects. We devised an effective correction method, where the coordinates of a contour point were corrected by detecting an edge direction of a contour image and interpolating the corrected range and azimuthal angle of the contour point between the predetermined ranges and azimuthal angles of the horizontal and vertical contour-points using the contour direction. After the correction, position errors in an azimuthal plane were reduced to less than 0.17 mm and range errors were less than 8.6 mm on the contour in the direction of 45 degrees at a distance of 730 mm.
一般社団法人日本機械学会の論文