Optical 3D-Surface Reconstruction of Weak Textured Objects Based on an Approach of Disparity Stereo Inspection
Optical 3D measurement of objects is meaningful in
numerous industrial applications. In various cases shape acquisition
of weak textured objects is essential. Examples are repetition parts
made of plastic or ceramic such as housing parts or ceramic bottles as
well as agricultural products like tubers. These parts are often
conveyed in a wobbling way during the automated optical inspection.
Thus, conventional 3D shape acquisition methods like laser scanning
might fail. In this paper, a novel approach for acquiring 3D shape of
weak textured and moving objects is presented. To facilitate such
measurements an active stereo vision system with structured light is
proposed. The system consists of multiple camera pairs and auxiliary
laser pattern generators. It performs the shape acquisition within one
shot and is beneficial for rapid inspection tasks. An experimental
setup including hardware and software has been developed and
implemented.
[1] M. Weyrich, P. Klein, M. Laurowski, "Optische Lokalisierung,
Klassifizierung und automatische Behebung von Fehlern am Beispiel
von Agrarprodukten," in Forum Bildverarbeitung 2010, KIT Scientific
Publishing, 2010, pp. 389-400.
[2] M. Weyrich, P. Klein, M. Laurowski, Y. Wang, "Vision based Defect
Detection on 3D Objects and Path Planning for Processing," in
Proceedings of 11th WSEAS International Conference ROCOM 2011,
Venice, 2011.
[3] N. Lazaros, G. C. Sirakoulis, A. Gasteratos, "Review of Stereo Vision
Algorithms: From Software to Hardware," in International Journal of
Optomechatronics, yr. 2, H. 4, 2008, pp. 435-462.
[4] P. Besl, "Active optical range imaging sensors," in Machine Vision and
Applications, Vol. 1, Springer, 1998, pp. 127-152.
[5] S. Schuon, C. Theobalt, J. Davis, S. Thrun, "High-quality scanning
using time-of-flight depth superresolution," in IEEE Computer Society
Conference on Computer Vision and Pattern Recognition Workshops,
Anchorage, Alaska 2008, pp. 1-7.
[6] M. S. Muhammad, H. Mutahira, A. Majid, T. Choi, Senior Member
IEEE: "Recovering 3D Shape of Weak Textured Surfaces,"
International Conference on Computational Science and Its Application,
2009.
[7] K. Tönnies, Grundlagen der Bildverarbeitung, Pearson Studium, 2005.
[8] S. Tosovic, R. Sablatnig, M. Kampel, On Combining Shape from
Silhouette and Shape from Structured Light, Vienna University of
Technology 2002, online:
http://www.prip.tuwien.ac.at/~sab/../~sab/papers/cvww02.pdf, last
visited: 2011-03-29.
[9] D. Scarpin; J. Wahrburg,: "Entwicklung eines robotergef├╝hrten
Lichtschnittsensors f├╝r die ber├╝hrungslose Erfassung anatomischer
Strukturen," in: O. Burgert (editor), 9. Jahrestagung der Deutschen
Gesellschaft f├╝r Computer- und Roboterassistierte Chirurgie e.V., DAV
Verlag, 2010, pp. 231-235.
[10] K. Krengel-Rothensee, L. Martin-Schledde, F. Hilbk-Kortenbruck and
M. Krauhausen, "Inline-Geometriepr├╝fung in der industriellen
Fertigung," in VDI-Z Integrierte Produktion, 6-2006, Springer,
D├╝sseldorf, 2005.
[11] F. w. DePiero and M. M. Trivedi: "3-D computer vision using structured
light: Design, calibration, and implementation issues," in Advances in
Computers, 43, pp. 243-278, 1996.
[12] H. Kawasaki and R. Furukawa: "Dynamic scene shape reconstruction
using a single structured light pattern," in CVPR 2008. IEEE Conference
on Computer Vision and Pattern Recognition, 2008.
[13] Online: http://www.primesense.com/, last visited: 2011-03-23.
[14] L. Song, J. Luo, B. Sun and Y. Wen, "Two Cameras Vision Model for
the 3D Shape Recovery," in Fifth International Conference on Natural
Computation, vol. 5, pp. 246-250, 2009.
[15] M. A. Akhloufi, "Real-time 3D visual servoing of an industrial cutting
robot manipulator," in World Academy of Science, Engineering and
Technology (WASET) 60, 2009.
[16] Z. Ren and L. Cai, "Accurate Dimensional Measurement of 3D Round
Holes Based on Stereo Vision," in World Academy of Science,
Engineering and Technology (WASET) 60, 2009.
[17] T. R. Arana and I. Maurtua, " Automatic Inspection of Percussion
Caps by Means of Combined 2D and 3D Machine Vision Techniques,"
in World Academy of Science, Engineering and Technology (WASET)
64, 2010.
[18] C. Perwass, L. Wietzke, "Mikrolinsen-basierte 4D-Lichtfeldkameras zur
räumlichen Bilderfassung durch ein einziges Objektiv in einer
Aufnahme," in Photonik, no. 6-2010, pp. 36-40, 2010
[19] M. Amtoun, B. Boufama, "Multibaseline stereo using a single-lens
camera Image Processing," in International Conference on ICIP, vol.1,
pp. I- 401-4 vol.1, 14-17, 2003.
[20] H. Hamfeld. Aktive Stereoskopie, Univ. Kaiserslautern, Germany,
Fachbereich Informatik, 2002.
[21] D. Modrow, Real-time active stereoscopic system for technical and
biometric application, TU Munich, Germany, 2009.
[22] G. Gao, X. Chen, H. M. Zhang, "A Fast Structured Light Matching
Method in Robot Stereo Vision," in Journal Applied Mechanics and
Materials, vol. 29 - 32, pp. 1981-1984, 2010.
[23] E. Lilineblum, R. Niese and B. Michaelis, "A Stereo Vision System for
Top View Book Scanners," World Academy of Science, Engineering and
Technology (WASET) 59, 2009.
[24] K. Ambrosch, W. Kubinger, "Accurate hardware-based stereo vision,"
in Journal of Computer Vision and Image Understanding, vol. 114, issue
11, Elsevier Science, New York, NY, 2010.
[25] G. Xu and B. Liu, "A Mesh-candidate-based 3D Reconstruction System
for Online Depth Recovery," in 2nd International Conference on
Computer Engineering and Technology, Int J Comput, vis 84, pp. 257-
268, 2009.
[26] B. J. Super, A. C. Bovik, "Shape from texture using local spectral
Moments," IEEE Transactions on Pattern Analysis and Machine
Intelligence, vol. 17, no. 4, pp. 333-343, 1995.
[27] A. P. Witkin, "Recovering surface shape and orientation from texture,"
Artificial Intelligence, vol. 17, pp. 17-45, 1981.
[28] Z. Zhang, "A flexible new technique for camera calibration," IEEE
Transactions on Pattern Analysis and Machine Intelligence 22, 1330-
1334, 2000.
[29] R. Zhang, P.-S. Tsai, J. E. Cryer, M. Shah, "Shape from Shading: A
Survey, " in IEEE Transactions on Pattern Analysis and Machine
Intelligence, year 21, pp. 690-706, 1999.
[30] J.-Y. Bouget Camera calibration toolbox for Matlab, online:
http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/example5.htm,
last visited: 2011-03-29.
[31] B. K. P. Horn, "Closed-form solution of absolute orientation using unit
quaternions," in Journal of the Optical Society of America, pp. 4:629-
642, 1987.
[1] M. Weyrich, P. Klein, M. Laurowski, "Optische Lokalisierung,
Klassifizierung und automatische Behebung von Fehlern am Beispiel
von Agrarprodukten," in Forum Bildverarbeitung 2010, KIT Scientific
Publishing, 2010, pp. 389-400.
[2] M. Weyrich, P. Klein, M. Laurowski, Y. Wang, "Vision based Defect
Detection on 3D Objects and Path Planning for Processing," in
Proceedings of 11th WSEAS International Conference ROCOM 2011,
Venice, 2011.
[3] N. Lazaros, G. C. Sirakoulis, A. Gasteratos, "Review of Stereo Vision
Algorithms: From Software to Hardware," in International Journal of
Optomechatronics, yr. 2, H. 4, 2008, pp. 435-462.
[4] P. Besl, "Active optical range imaging sensors," in Machine Vision and
Applications, Vol. 1, Springer, 1998, pp. 127-152.
[5] S. Schuon, C. Theobalt, J. Davis, S. Thrun, "High-quality scanning
using time-of-flight depth superresolution," in IEEE Computer Society
Conference on Computer Vision and Pattern Recognition Workshops,
Anchorage, Alaska 2008, pp. 1-7.
[6] M. S. Muhammad, H. Mutahira, A. Majid, T. Choi, Senior Member
IEEE: "Recovering 3D Shape of Weak Textured Surfaces,"
International Conference on Computational Science and Its Application,
2009.
[7] K. Tönnies, Grundlagen der Bildverarbeitung, Pearson Studium, 2005.
[8] S. Tosovic, R. Sablatnig, M. Kampel, On Combining Shape from
Silhouette and Shape from Structured Light, Vienna University of
Technology 2002, online:
http://www.prip.tuwien.ac.at/~sab/../~sab/papers/cvww02.pdf, last
visited: 2011-03-29.
[9] D. Scarpin; J. Wahrburg,: "Entwicklung eines robotergef├╝hrten
Lichtschnittsensors f├╝r die ber├╝hrungslose Erfassung anatomischer
Strukturen," in: O. Burgert (editor), 9. Jahrestagung der Deutschen
Gesellschaft f├╝r Computer- und Roboterassistierte Chirurgie e.V., DAV
Verlag, 2010, pp. 231-235.
[10] K. Krengel-Rothensee, L. Martin-Schledde, F. Hilbk-Kortenbruck and
M. Krauhausen, "Inline-Geometriepr├╝fung in der industriellen
Fertigung," in VDI-Z Integrierte Produktion, 6-2006, Springer,
D├╝sseldorf, 2005.
[11] F. w. DePiero and M. M. Trivedi: "3-D computer vision using structured
light: Design, calibration, and implementation issues," in Advances in
Computers, 43, pp. 243-278, 1996.
[12] H. Kawasaki and R. Furukawa: "Dynamic scene shape reconstruction
using a single structured light pattern," in CVPR 2008. IEEE Conference
on Computer Vision and Pattern Recognition, 2008.
[13] Online: http://www.primesense.com/, last visited: 2011-03-23.
[14] L. Song, J. Luo, B. Sun and Y. Wen, "Two Cameras Vision Model for
the 3D Shape Recovery," in Fifth International Conference on Natural
Computation, vol. 5, pp. 246-250, 2009.
[15] M. A. Akhloufi, "Real-time 3D visual servoing of an industrial cutting
robot manipulator," in World Academy of Science, Engineering and
Technology (WASET) 60, 2009.
[16] Z. Ren and L. Cai, "Accurate Dimensional Measurement of 3D Round
Holes Based on Stereo Vision," in World Academy of Science,
Engineering and Technology (WASET) 60, 2009.
[17] T. R. Arana and I. Maurtua, " Automatic Inspection of Percussion
Caps by Means of Combined 2D and 3D Machine Vision Techniques,"
in World Academy of Science, Engineering and Technology (WASET)
64, 2010.
[18] C. Perwass, L. Wietzke, "Mikrolinsen-basierte 4D-Lichtfeldkameras zur
räumlichen Bilderfassung durch ein einziges Objektiv in einer
Aufnahme," in Photonik, no. 6-2010, pp. 36-40, 2010
[19] M. Amtoun, B. Boufama, "Multibaseline stereo using a single-lens
camera Image Processing," in International Conference on ICIP, vol.1,
pp. I- 401-4 vol.1, 14-17, 2003.
[20] H. Hamfeld. Aktive Stereoskopie, Univ. Kaiserslautern, Germany,
Fachbereich Informatik, 2002.
[21] D. Modrow, Real-time active stereoscopic system for technical and
biometric application, TU Munich, Germany, 2009.
[22] G. Gao, X. Chen, H. M. Zhang, "A Fast Structured Light Matching
Method in Robot Stereo Vision," in Journal Applied Mechanics and
Materials, vol. 29 - 32, pp. 1981-1984, 2010.
[23] E. Lilineblum, R. Niese and B. Michaelis, "A Stereo Vision System for
Top View Book Scanners," World Academy of Science, Engineering and
Technology (WASET) 59, 2009.
[24] K. Ambrosch, W. Kubinger, "Accurate hardware-based stereo vision,"
in Journal of Computer Vision and Image Understanding, vol. 114, issue
11, Elsevier Science, New York, NY, 2010.
[25] G. Xu and B. Liu, "A Mesh-candidate-based 3D Reconstruction System
for Online Depth Recovery," in 2nd International Conference on
Computer Engineering and Technology, Int J Comput, vis 84, pp. 257-
268, 2009.
[26] B. J. Super, A. C. Bovik, "Shape from texture using local spectral
Moments," IEEE Transactions on Pattern Analysis and Machine
Intelligence, vol. 17, no. 4, pp. 333-343, 1995.
[27] A. P. Witkin, "Recovering surface shape and orientation from texture,"
Artificial Intelligence, vol. 17, pp. 17-45, 1981.
[28] Z. Zhang, "A flexible new technique for camera calibration," IEEE
Transactions on Pattern Analysis and Machine Intelligence 22, 1330-
1334, 2000.
[29] R. Zhang, P.-S. Tsai, J. E. Cryer, M. Shah, "Shape from Shading: A
Survey, " in IEEE Transactions on Pattern Analysis and Machine
Intelligence, year 21, pp. 690-706, 1999.
[30] J.-Y. Bouget Camera calibration toolbox for Matlab, online:
http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/example5.htm,
last visited: 2011-03-29.
[31] B. K. P. Horn, "Closed-form solution of absolute orientation using unit
quaternions," in Journal of the Optical Society of America, pp. 4:629-
642, 1987.
@article{"International Journal of Information, Control and Computer Sciences:57665", author = "Thomas Kerstein and Martin Laurowski and Philipp Klein and Michael Weyrich and Hubert Roth and Jürgen Wahrburg", title = "Optical 3D-Surface Reconstruction of Weak Textured Objects Based on an Approach of Disparity Stereo Inspection", abstract = "Optical 3D measurement of objects is meaningful in
numerous industrial applications. In various cases shape acquisition
of weak textured objects is essential. Examples are repetition parts
made of plastic or ceramic such as housing parts or ceramic bottles as
well as agricultural products like tubers. These parts are often
conveyed in a wobbling way during the automated optical inspection.
Thus, conventional 3D shape acquisition methods like laser scanning
might fail. In this paper, a novel approach for acquiring 3D shape of
weak textured and moving objects is presented. To facilitate such
measurements an active stereo vision system with structured light is
proposed. The system consists of multiple camera pairs and auxiliary
laser pattern generators. It performs the shape acquisition within one
shot and is beneficial for rapid inspection tasks. An experimental
setup including hardware and software has been developed and
implemented.", keywords = "automated optical inspection, depth from structured light, stereo vision, surface reconstruction", volume = "5", number = "6", pages = "612-6", }
