SAL3D presentation - AQSENSE's 3D machine vision library
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SAL3D presentation - AQSENSE's 3D machine vision library

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The 3D Shape Analysis Library (http://www.aqsense.com/products/sal3d) is the first hardware independent software architecture for range map and poing cloud processing, fully oriented to laser ...

The 3D Shape Analysis Library (http://www.aqsense.com/products/sal3d) is the first hardware independent software architecture for range map and poing cloud processing, fully oriented to laser triangulation and 3D machine vision applications.

SAL3D means speed, accuracy, and reliability to machine builders, equipment manufacturers, system integrators, and volume end users demanding maximum flexibility and customization in their vision systems. Tools can be integrated as DLL's that allow developers access to third party components usable side by side with SAL's tools resulting in rapid development of highly complex processing tasks.

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SAL3D presentation - AQSENSE's 3D machine vision library SAL3D presentation - AQSENSE's 3D machine vision library Presentation Transcript

  • Dedicated SoftwareAlgorithms for 3D Clouds of Points
  • IntroductionAQSENSE develops and commercializes 3D image acquisition and processingtechnologies that allow high speed in-line 100% production inspection, for the Machine Vision Industry.
  • Were are we ?Parc Científic i Tecnològic de la UdG - 17003 Girona (Catalonia - Spain)
  • Presentation OutlinePart I: SAL3D PCM ✔ The ZMap as a “FLAT” representation of a COPPart II: SAL3D Tools Overview ✔ Accurate Light Stripe Detection ✔ Easy and Fast Profiles Merging ✔ Metric Calibration for Linear and Angular Scanning ✔ Measuring Geometric Primitives ✔ Ultra-Fast Alignment for Pose Determination and Dimensional Control ✔ Importing Models from CAD Designs ✔ Integrating Multiple 3D Views into a Single Mesh ✔ Easy Visualization of Rangemaps, COPs and ZMapsPart III: Applications Examples ✔ Measuring the Diameter of a Tilted Circle ✔ Dimensional Inspection
  • PART ISAL3D Point Cloud Manager (PCM)
  • Point Cloud Manager (PCM)Tool for management for 3D data: COPs and ZMaps COP: Organized container for 3D data coming from different sources: ● Laser triangulation ● Time-of-flight ● Structured Light ● Stereo vision
  • PCM: Zmap, the flat representation of the COP data Orthogonal projection onto the Z plane A COP is an organized set of 3D A COP is an organized set of 3D A ZMap is the projection of a COP A ZMap is the projection of a COP points, expressed in X, Y and Z points, expressed in X, Y and Z onto the Z=0 plane. onto the Z=0 plane. coordinates. coordinates. Its Its horizontal horizontal and and vertical vertical Its like a set of 3 “images” of Its like a set of 3 “images” of coordinates are proportional to the coordinates are proportional to the floating floating point point numbers, numbers, actual X and Y coordinates of the actual X and Y coordinates of the representing the X, Y and Z sets of representing the X, Y and Z sets of COP, while its contents are the Z COP, while its contents are the Z coordinates coordinates coordinate values. coordinate values.
  • The ZMap as a “FLAT” representation of a COP Rangemap ZMapRangemap vs. ZMapPreserves metric properties NO YESIndependent of acquisition source NO YESCan be used by 2D tools SOMETIMES ALWAYSCan be used to locate 3D features using2D tools, in 3D space INDIRECTLY YESRemoves perspective distortion NO YES
  • PCM: Zmap, the flat representation of the COP data Zmap data allows 3D measurements using common 2D tools SAL3D contains examples to how to export 3D data to standard 2D libraries ( Halcon, MIL and OpenCV). Zmap factors allow the conversion from pixel data to metric data: ● Length ● Diameter ● Area and volume of defects ● etc.
  • PART IISAL3D Tools Overview
  • SAL3D Tools Overview
  • SAL3D Tools Overview
  • Accurate Light Stripe Detection Grey level representation Determination of the maximum value position up to 1/64th of a pixel A single point is obtained for each line across the laser stripe. This point is obtained at subpixel accuracy at a maximum of 1/64 pixel. Lab tests revealed 5 microns in Z, with a FOV of 130mm.
  • Range Map as the accumulation of laser profiles
  • Accurate Light Stripe Detection COG & Peak Ideal CaseThe maximum intensity is in Intensity profile of the stripe imagethe middle of the stripe image. Peak COG Real Case The maximum intensity is NOT Intensity profile of the stripe image in the middle of the stripe image.
  • Accurate Light Stripe Detection Peak COG Peak PeakCOG COG● Presence of noise● Nature of surface material● Coatings Peak COG The maximum intensity is NOT Intensity profile of the stripe image in the middle of the stripe image.
  • Accurate Light Stripe Detection Light stripe detection 8x to 10x better detection accuracy. (3 orthogonal distanceCOG measurements of a plane reconstructed object) Better detection allows smaller details to be visible.Peak Detector
  • SAL3D Tools Overview
  • MERGER Tool: Easy and Fast Profiles Merging A B ADD MORE This area is not visible by camera A CAMERAS
  • SAL3D Tools Overview
  • Metric Calibration for Linear and Angular scanning Linear Scanning Angular Scanning RANGEMAP CLOUD OF POINTS (COP)
  • Metric Calibration for Linear and Angular scanningMulti-camera systemfor large objects@ high resolution Single camera system Special Multi-camera for large objects system for 360º view @ low resolution scanning
  • Metric Calibration for Linear and Angular scanning SCANNING A TILTED CYLINDER DIRECT 3D REPRESENTATIONRANGEMAPRANGEMAP 3D REPRESENTATION AFTER METRIC A rangemap can create an CALIBRATION A rangemap can create an “illusion” of 3D. Not only metric “illusion” of 3D. Not only metric coordinates are missing, but coordinates are missing, but perspective distortion makes perspective distortion makes the shape completely different the shape completely different from what it really is. from what it really is.
  • Metric Calibration for Linear and Angular scanning The robot scans the part using one of its angular articulations. Using the accurate positioning of the robot, multiple scans can be overlapped and integrated with SAL3D Integrator Tool
  • Geometric ToolThe tool to allow you to made 2D measurements on planes not parallel to the3D sensor. Zmap from the acquired COP Zmap after plane fitting and correction on the acquired COP
  • Geometric ToolThis tool also allows planarity measurements and sphere fitting.
  • Ultra-Fast Alignment for Pose Determinationand Dimensional Control of all Parts Produced Parts Pose Determination for picking operations Dimensional correctness inspection Quantification of tolerances in 3D, for complex, a-priory unknown Surface inspection scanned surfaces
  • SAL3D Tools Overview
  • Ultra-Fast Alignment for Pose Determination and Dimensional Control of all Parts Produced {M} M TP {P}A Parts Model and its PoseMatch3D determines a parts pose, relative to aMatch3D determines a parts pose, relative to aknown model of it, in a small fraction of aknown model of it, in a small fraction of asecond.second.Both Model and Part Cloud Of Points (COPs)Both Model and Part Cloud Of Points (COPs)consisting of 1 or more million points.consisting of 1 or more million points.Versions: Match3D and Match3D with Coarse.Versions: Match3D and Match3D with Coarse. The Scanned Part and its Pose
  • Ultra-Fast Alignment for Pose Determination and Dimensional Control of all Parts Produced DISPARITY MAP SAL3D can compute the difference between two Clouds Of Points, generating a disparity map. Its a floating point value image which directly conveys 3D metric localized information on the difference between model and part. Cross-section of a shape deviation DISPARITY MAPDifferences (or distances) in mm between the model and the scanned surface
  • SAL3D Tools Overview
  • Importing Models from CAD Designs CAD Designs in IGES or STL formats can be imported to SAL3D CAD Designs in IGES or STL formats can be imported to SAL3D COPs for being used in Match3D Applications COPs for being used in Match3D Applications
  • SAL3D Tools Overview
  • Integrating Multiple 3D Views into a Single Mesh Single mesh after integrationMultiple views aligned and overlapped A Mesh can be stored as a .PLY or .STL file with a simple function call. Reverse Engineering, Rapid Prototyping, Archeology, etc...
  • SAL3D Tools Overview
  • Area Computation Tool Applications ● Volume measure ● Density checking: With the help of the Area with respects to a reference line Area Tool the volume of an object is obtained. Then, knowing its weight, the density can be easily calculated ● Slicing: When automatically slicing food to be packed, neither extra material is desired nor can fewer product be given to the user. Computing the piece volume allows a precise cut with the exact weight. Area of a closed profile
  • Easy Visualization of Rangemaps, COPs and ZMapsSAL3D allows the instantiation of viewer windows with their corresponding controls
  • PART IIIApplication Examples
  • Example #1: Measuring the Diameter of a Tilted CircleStrategy:1. Obtain a model of the part2. Align all parts, one after one, with the obtained model3. Align all parts to the Z=0 plane, using4. Generate a ZMap and feed into a 2D circle measurement tool5. Compute the hole diameter (in pixels)6. Convert the diameter in pixels into millimeters using the ZMap factors
  • Example #1: Measuring the Diameter of a Tilted Circle MODEL PLANE Z=0 Getting a model of the part Align the Model with plane Z=0 (ROBUST PLANE or arbitrary)
  • Example #1: Measuring the Diameter of a Tilted Circle BEFORE ALIGNMENT AFTER ALIGNMENT Align the part with the model using Match3D Align the part with the model using Match3D Align the part with the Z=0 to generate a ZMap Align the part with the Z=0 to generate a ZMap 3D Transformations can be easily combined for efficiency
  • Example #1: Measuring the Diameter of a Tilted Circle Generate a ZMap for each part after alignment with the Z=0 plane.
  • Example #1: Measuring the Diameter of a Tilted CircleThe Circle Diameter can be computed in pixels and converted to mm (ZMap factors)
  • Example #2: Dimensional Inspection DISPARITY MAP DISPARITY MAPPSEUDO-COLOR REPRESENTATION GRAY-LEVEL REPRESENTATION
  • Example #2: Dimensional InspectionDisparity Map
  • Example #2: Dimensional InspectionDisparity Map Binarization
  • Example #2: Dimensional InspectionDisparity Map Binarization Blob segmentation by size
  • Example #2: Dimensional InspectionDisparity Map mmPerGrayLevel = 0.024 Binarization Blob segmentation by size mm Gray Level
  • SUMMARY SAL3D as a C++ Standard Library or integrated in CVB. SAL3D technology is proven and present in different industries such as Food, Dental, Metal, ... SAL3D technologies cover a very wide range of 3D MV applications. Ease of Use, Robustness, Accuracy and Speed are the four pillars of AQSENSEs Technologies, embedded in SAL3D. SAL3D can be easily combined with Standard 2D Machine Vision Libraries to enable a huge number of applications.