Merjenje oddaljenosti in orientacije površine z lasersko skenirano glavo in videokamero

Dobelšek, Simon (author), Jezeršek, Matija (mentor)

Delo obsega razvoj metode za merjenje razdalje in orientacije površine z uporabo laserske triangulacije s pilotnim žarkom medicinske laserske skenirne glave in v njo vgrajene kamere. Cilj naloge je omogočiti avtomatizirano upravljanje, sicer ročno operirane skenirne glave, z robotsko roko. Na zajetih slikah se najprej prepozna nahajanje pilotnega žarka, sledi natančno zaznavanje njegovega poteka, kar omogoči triangulacijo koordinat osvetljene površine. Preizkusi na testnih slikah so pokazali, da je sistem zmožen meriti s standardnim odklonom izmer razdalje pod 2 mm, ter orientacije tipično pod 5 stopinj.

• Language: Slovenian
• Keywords: strojni vid, laserska triangulacija, digitalna obdelava slik, segmentacija, laserske skenirne glave
• Work type: Master's thesis/paper
• Typology: 2.09 - Master's Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [S. Dobelšek]
• Year: 2019
• Number of pages: XXV, 71 str.
• PID: 20.500.12556/RUL-112645
• UDC: 681.7.08:004.9:681.5(043.2)
• COBISS.SI-ID: 16956699
• Publication date in RUL: 30.10.2019

DOBELŠEK, Simon, 2019, Merjenje oddaljenosti in orientacije površine z lasersko skenirano glavo in videokamero [online]. Master’s thesis. Ljubljana : S. Dobelšek. [Accessed 2 April 2025]. Retrieved from: https://repozitorij.uni-lj.si/IzpisGradiva.php?lang=eng&id=112645

Secondary language

• Language: English
• Title: Measuring distance and rotation of a surface using a laser scanning head and camera

Abstract

This thesis spans the development of methods for the purpose of measuring the distance and orientation of a surface through the use of laser triangulation between the pilot beam of a medical laser scanning head and an inbuilt camera. The goal is to enable automated handling of an otherwise handheld scanning head with an industrial robot arm. First, the approximate whereabouts of the pilot beam are extracted from the image, followed by precise detection of its centerline. Thusly it is possible to triangulate the coordinates of the beam-lit surface. Testing has shown the system to be capable of performing measurements with a standard deviation of the measured distance being under 2 mm, and typically under 5 degrees for the measured rotation.

• Keywords: machine vision, laser triangulation, digital image processing, segmentation, laser scanning head