11 November 2010 Position and orientation measurement for large-size workpiece based on binocular vision
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Abstract
Based on the CAD model of the free-form surface workpiece, an automatic method to obtain the position and orientation of the workpiece without contact is proposed. The method consists of two steps. The first step is rough localization which gets the approximate correspondence between workpiece and CAD model based on surface features. The second step is fine localization. It is achieved by searching the nearest point on the CAD surface to the light dot by gridsubdivide surface of CAD model. ICP (iterative closest point) algorithm that obtains precise correspondences between the workpiece and the CAD model is used for this step. Experiments were carried out and the results show that the method is efficient and robust.
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Fuguo Liu, Xiaoping Lou, Naiguang Lv, Peng Sun, "Position and orientation measurement for large-size workpiece based on binocular vision", Proc. SPIE 7855, Optical Metrology and Inspection for Industrial Applications, 785529 (11 November 2010); doi: 10.1117/12.871802; https://doi.org/10.1117/12.871802
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