Research On Rapid Measurement Method With Rotational Symmetric Laser Triangulation Sensor

Depth data acquisition with the laser triangulation sensor, an important research topic in machine vision, has been widely used in industry manufacturing, machining, automatic control etc. Aiming at the poor efficiency of laser triangulation sensor, a rapid measurement method with vision guidance is designed and implemented in the thesis. We use the Advancing Front Technique (AFT) to decreasing measuring points. Then the Ant Colony Algorithm (ACA) is applied to obtain the measuring path to improve the efficiency of measuring process. The main content of this thesis is organized along the three lines:(1) A vision guidance method which based on advancing front technique is designed in this thesis. Since the conventional AFT’s monotonic structure cannot represent the depth variation of object surface, we introduced a frontier coefficient so as to calculate the minimum distances between the nodes and boundaries, in order to guide the generation of next node. Thus, all the nodes adequately describe the structure of objects.(2) The path planning methods are comprehensively studied. Due to the advantages of fast convergence speed, robustness and avoiding local optimal, we implemented the path planning method based on the ant colony optimization, to rapidly and orderly complete the measurement task, and improved the measuring efficiency.(3) An experimental system of rotational symmetric laser triangulation sensor is built, so as to rapidly acquire the depth data of different objects. Finally, we reconstructed these objects under OpenGL platform.