Three-Dimensional Locating of Industrial Parts

摘要

Results are presented of research undertaken to investigate ways of using three-dimensional models of industrial parts to recognize and locate those parts quickly and reliably in a combination of range and intensity data. An object modeling system based on planes and cylinders was implemented. The system groups features of the objects according to their inherent properties and accoding to the relationships between them. The appearance of cylindrical features was characterized from two perspectives: the intersection of a set of light planes and a cylinder, and the types of edges that are associated with cylindrical features. Based on these properties, techniques for locating cylinders in range data were developed. The concept was tested by implementing a simple range sensor and two programs to find objects with prominent cylindrical parts. It is recommended that the approach of matching by growing feature classes be extended to a wider class of features to verify its predicted ability to handle a wider class of objects.