Research of rapid laser stripe extraction in real-time guiding of welding robots
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1.
State Key Laboratory of Precision Measuring Technology & Instruments, Tianjin University, Tianjin 300072, China;
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2.
Department of Precision Instrument, Tsinghua University, Beijing 100084, China
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Received Date:
2014-07-07
Accepted Date:
2014-08-22
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Abstract
In a structured light vision measurement system, the extraction accuracy and speed of laser stripes directly affect the final accuracy of measurement results. In order to reach strong anti-interference ability, good stability and low computation cost at the same time, an optimal Steger algorithm was proposed to extract center points of laser stripes. The gradient threshold segmentation was used to get the effective stripe area. The optimal scanning method and the gray centroid method were used extract the stripe center coarsely. Then, Hessian matrix method was used to extract pure stripe center. The principle of the laser stripes extraction was analyzed in theory and the hardware and software design were verified by experiments. Good experimental data was obtained. The experimental results show that this method has high extraction accuracy and fast speed compared with the traditional method. The research is helpful for high precision and real-time performance of flexible sensors.
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