13 May 2013 Automated control of robotic camera tacheometers for measurements of industrial large scale objects
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The modern robotic tacheometers equipped with digital cameras (called also imaging total stations) and capable to measure reflectorless offer new possibilities to gather 3d data. In this paper an automated approach for the tacheometer measurements needed in the dimensional control of industrial large scale objects is proposed. There are two new contributions in the approach: the automated extraction of the vital points (i.e. the points to be measured) and the automated fine aiming of the tacheometer. The proposed approach proceeds through the following steps: First the coordinates of the vital points are automatically extracted from the computer aided design (CAD) data. The extracted design coordinates are then used to aim the tacheometer to point out to the designed location of the points, one after another. However, due to the deviations between the designed and the actual location of the points, the aiming need to be adjusted. An automated dynamic image-based look-and-move type servoing architecture is proposed to be used for this task. After a successful fine aiming, the actual coordinates of the point in question can be automatically measured by using the measuring functionalities of the tacheometer. The approach was validated experimentally and noted to be feasible. On average 97 % of the points actually measured in four different shipbuilding measurement cases were indeed proposed to be vital points by the automated extraction algorithm. The accuracy of the results obtained with the automatic control method of the tachoemeter were comparable to the results obtained with the manual control, and also the reliability of the image processing step of the method was found to be high in the laboratory experiments.
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Teuvo Heimonen, Teuvo Heimonen, Jukka Leinonen, Jukka Leinonen, Jani Sipola, Jani Sipola, "Automated control of robotic camera tacheometers for measurements of industrial large scale objects", Proc. SPIE 8788, Optical Measurement Systems for Industrial Inspection VIII, 87881J (13 May 2013); doi: 10.1117/12.2019246; https://doi.org/10.1117/12.2019246

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