HALCON 在3D视觉及机器人中的应用介绍.pdf

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1、3DVisionandApplicationsinRoboticsDr.OlafMunkelt2010MVTecSoftwareGmbH-Harbin,China,2011©2003Overview3DisrequiredinmanyapplicationareasindifferentindustriesiStock_000002103108SmallWe.wmvTheControlLoopMachinevisionapplicationHALCONStandardPCIntelligentcameraresultembe

2、ddedsystemholeradius13.15mm23.05mm32.79mmPoseProcessThereisavarietyofmethodstomeasuresurfacesin3DStereoSheetofLightTimeofPhotometricFlightStereoFocusInterferometryDeterminationThese3Dmethodsarealsoknown,butnotverycommoninmachinevisionDepthfrom…DefocusMotionShado

3、wsTexturePerspectiveMoiréSheetoflightSheetoflightThesurfacemeasurementisperformedbyrecordingsuccessiveprofilesStructuredlight“parallelizes”thesheetoflightprincipleIfthegeometryisknown,the3DposecanbedetermineddirectlyPosefromPosefromPointsContoursMatchingHALCONsuppo

4、rtsdescriptor-basedmatchingWhatdoIwanttoWhataretheWhatarethesetupmeasureandhowcharacteristicsoftherequirements?accurately?object?PoserecognitionbasedonfeaturesPoserecognitionofmetalpartswithonlyonecameraPoserecognitionbasedonedgeinformationGrippingofcardoorPosereco

5、gnitionbasedonedgeandcolorInformationWhichmethodsuitsbestfordeterminingtheposeofthemetalclamps?Thefollowingquestionsmakeiteasiertochoosetherightmethod:WhatdoIwanttoWhataretheWhatarethesetupmeasureandhowcharacteristicsoftherequirements?accurately?object?3Dmatching:M

6、odelgenerationLocalizationofaknownobjectandcontrolofthegrippingprocessoftherobotMatch2DrepresentationRefinepositionControlrobotmovementforhighprecisionMost3Dmethodsarebasedonthesameprinciplesashuman3DvisionBinocularstereooffersaflexiblesolutionfor3Dsurfacemeasureme

7、ntBinpickingofmetalcylindersWhatdoIwanttoWhataretheWhatarethesetupmeasureandhowcharacteristicsoftherequirements?accurately?object?TwoalternativeapproachescanbeselectedReconstructionMatching…orbothapprochescanbecombined!HALCON10inanutshellFirstclassBestbasisSimplyPo

8、werfulmatchingFasterandforfaster3DvisioninanysmarteridentificationdevelopmentdimensionapplicationsHALCON10inanutshellFirstclassBestbasisSimplyPow