Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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  • Publication
    Analysis of the geometrical features detectability constraints for laser-scanner sensor planning
    ( 1994)
    Seliger, G.
    ;
    Zussmann, E.
    ;
    Schuler, H.
    This paper presents a planning approach or automatically synthesis of the viewpoint locations of a laser scanner that satisfy the detectability constaints of the geometrical feature of a given object. Dominant constraints taken into consideration were: the laser scanner field of view, depth of view, and the maximum permissible view angle. The approach is task driven and sensor model based. Information is given about the scanned object and its selected features, as well as about the optical characteristics of the sensor. Planning is presented as an optimization problem where the optimal laser scanner viewpoint must satisfy all the constraints simultaneously. The approach is demonstrated by scanning a 2D feature, and through planning an experiment in which robotic assembly of a car door is assisted by a laser scanner.
  • Publication
    Optimal fitting of objects based on range images - a planning approach assisted by local and global measurement matching
    ( 1994)
    Schuler, H.
    ;
    Zussmann, E.
    ;
    Seliger, G.
    This paper presents a planning approach for optimal fitting of objects based on range image data of a laser scanner (triangulationbased). The approach includes two steps: local and global fitting. Local is based on matching each measurement to a nominal feature resulting in geometrical transformation parameters for each one of them. While several measurements are taken on a rigid body global aspects of the object must be taken into account such as: parallelism, or alignment of features. Therefore a global matching is introduce dregarding all the measurements simultaneously. Planning is presented as an optimization problem which results in the best fitting parameters. The approach is demonstrated by fitting a 2D object, and through planning an experiment in which robotic assembly of a car door is assisted by range image data.