Three Dimensional Shape Measuring and Modeling of Piled Ore by Laser Emitter and CCD Camera.
Shigeru Sarata, 啓二 半田 · Shigen-to-Sozai · 1995
This paper proposes a method for three dimensional shape measuring and generation of model of piled ore for scooping task planning.The shape measuring system consists of laser emitter and CCD camera. Three dimensional position of laser spots on the pile is detected based on trigonometry by the measuring system. To shorten the measuring time, number of measuring points is determined by preliminary measuring and adequate measuring points location.From discrete measuring points, continuous shape is generated by interpolation with triangles of measuring points. The shape of shadow region is estimated based on inclination of slope in the measured region. Through the interpolation and estimation, the column model which is proposed previously by one of the authors is generated.The result of small scale experiment in laboratory shows that the estimated shape agrees with the measured shape very well especially in the front side shape and the contour at floor. The proposed measuring and modeling method could be applied to a model-based scooping system.