Laser Radar-Based Range Imaging with Applications in Shape Measurement andMachine Control

摘要

Various geometric sensing techniques are reviewed and the use of a laser radartechnique for sensing large objects is justified. A method and environment for experimental characterization of the performance of range imaging sensors is proposed and the use of the method is demonstrated. The characterization is based on known reference objects. Two approaches to the automatic inspection of shapes of objects, one based on a raster range image and the other on profiles, are developed. The conceptual difference between the approaches lies in the way the desired data are extracted from the scene, leading to differences in sensor design and data analysis methods. The structure and operation of a laser radar-based range imaging sensor and its control and data analysis functions are defined for both approaches. The approaches are implemented and their feasibility is evaluated. The performance of the approaches and their applicability to real industrial inspection tasks are evaluated and the profile-based approach is considered as a potential solution to industrial shape inspection problems. (Copyright (c) Valtion teknillinen tutkimuskeskus (VTT) 1995.)