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Accurate fringe analysis Accurate fringe analysis in a 3D range sensor in a 3D range sensor for the fast measurement for the fast measurement of shapes of shapes G. Sansoni, G. Sansoni, F. Docchio, E. Redaelli F. Docchio, E. Redaelli Laboratory of Optoelectronics Laboratory of Optoelectronics University of Brescia, Italy University of Brescia, Italy

Accurate fringe analysis in a 3D range sensor for the fast measurement of shapes G. Sansoni, F. Docchio, E. Redaelli Laboratory of Optoelectronics University

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Accurate fringe analysis in a 3D range sensor for the fast measurement of shapes G. Sansoni, F. Docchio, E. Redaelli Laboratory of Optoelectronics University of Brescia, Italy Slide 2 2 Context of the work National Italian Project: Low-cost 3D imaging and modeling automatic system (LIMA3D) BRESCIA MILANO GENOVA VERONA FIRENZE PALERMO BRESCIA Laboratory of Optoelectronics Design, development and metrological characterization of a low-cost optical digitizer based on the projection of a single grating of non-coherent light Field of View (FOV): up to 300X400mm 2 Depth range: up to 100mm Measurement uncertainty: 0.3mm Slide 3 3 What the system is not Optical active triangulation Time-space coding of the meas. volume Fringe projector Video camera Assembly system OPL-3D Slide 4 4 Winged Victory Sestertius Ferrari 250 MM Slide 5 5 What the system is Use of low-cost projection device Slide projectorVideo beam Optical active triangulation Projection of a single pattern of light Time space coding of the scene Slide 6 6 j i U p FW FH Projector Video camera S(i S,j S ) Z g X g Y g O g c c c c O X Y Z p p X O Z Y p p Projection Label: L S dL S S(i S, j S, L S ) LSLS T LTLT T(i S, j S, L T ) S(X S, Y S, Z S ) T(X T,Y T, Z T ) Map of labels j i Phase mapping Camera-projector Calibration Measurement principle Slide 7 7 Input G C (i,j) Normalization Phase mapping G C,n (i,j) G C,b (i,j) Binarization g f (i,j) g r (i,j) Edge detector g r,f (i,j)g f,f (i,j) Low-pass filtering g r,n (i,j)g f,n (i,j) Amplitude normalization W (i,j) % ATAN2 Slide 8 8 The phase unwrapping Pure spatial approach Spatio-temporal approach (optional) Slide 9 9 Camera-Projector calibration Slide 10 10 Sanyo PROxtraX LCD Hitachi KP-D50 Color The prototype Slide 11 11 Experimental results (1) Slide 12 12 Exprimental results (2) Slide 13 13 Metrological characterization Slide 14 14 Slide 15 15 Conclusions Low-cost 3D system based on phase measurement Characterization of the measurement performance Experimentation with high resolution cameras Experimentation with a 3CCD color camera