Error model of misalignment error in a radial 3D scanner

Neha Mathur, Rahul Summan, Gordon Dobie, Graeme West, Stephen Marshall

Research output: Contribution to conferencePaper

Abstract

A radial 3D, structured light scanner, was developed from a laser projector and a wide field of view machine vision camera to inspect two - four inch diameter pipers, primarily in the nuclear industry. For identifying the nature and the spatial extent of defective regions, the system constructs a surface point cloud. A dominant source of error in the system is caused by manufacturing tolerances which leads to misalignment between the laser projector and the camera. This causes a triangulation error, reducing the accuracy of the result. In this paper, the error model of the misalignment of the laser and image plane. For a given target distance, we derive an almost linear relationship between angular error in degrees and the error in reported radius (distance from the probe to the surface) in mm and found that for the target 0.1 mm accuracy on a 4 inch pipe, the misalignment needs to be controlled to less than 0.05 degrees. Future work will consider a post manufacturing calibration routine to compensate for this misalignment.

Conference

ConferenceIEEE SENSORS 2017
CountryUnited Kingdom
CityGlasgow
Period29/10/171/11/17

Fingerprint

Lasers
Cameras
Nuclear industry
Triangulation
Computer vision
Pipe
Calibration

Keywords

  • laser profiler
  • structure from motion
  • systematic error
  • visual inspection

Cite this

Mathur, N., Summan, R., Dobie, G., West, G., & Marshall, S. (2017). Error model of misalignment error in a radial 3D scanner. Paper presented at IEEE SENSORS 2017, Glasgow, United Kingdom.
Mathur, Neha ; Summan, Rahul ; Dobie, Gordon ; West, Graeme ; Marshall, Stephen. / Error model of misalignment error in a radial 3D scanner. Paper presented at IEEE SENSORS 2017, Glasgow, United Kingdom.
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abstract = "A radial 3D, structured light scanner, was developed from a laser projector and a wide field of view machine vision camera to inspect two - four inch diameter pipers, primarily in the nuclear industry. For identifying the nature and the spatial extent of defective regions, the system constructs a surface point cloud. A dominant source of error in the system is caused by manufacturing tolerances which leads to misalignment between the laser projector and the camera. This causes a triangulation error, reducing the accuracy of the result. In this paper, the error model of the misalignment of the laser and image plane. For a given target distance, we derive an almost linear relationship between angular error in degrees and the error in reported radius (distance from the probe to the surface) in mm and found that for the target 0.1 mm accuracy on a 4 inch pipe, the misalignment needs to be controlled to less than 0.05 degrees. Future work will consider a post manufacturing calibration routine to compensate for this misalignment.",
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Mathur, N, Summan, R, Dobie, G, West, G & Marshall, S 2017, 'Error model of misalignment error in a radial 3D scanner' Paper presented at IEEE SENSORS 2017, Glasgow, United Kingdom, 29/10/17 - 1/11/17, .

Error model of misalignment error in a radial 3D scanner. / Mathur, Neha; Summan, Rahul; Dobie, Gordon; West, Graeme; Marshall, Stephen.

2017. Paper presented at IEEE SENSORS 2017, Glasgow, United Kingdom.

Research output: Contribution to conferencePaper

TY - CONF

T1 - Error model of misalignment error in a radial 3D scanner

AU - Mathur, Neha

AU - Summan, Rahul

AU - Dobie, Gordon

AU - West, Graeme

AU - Marshall, Stephen

N1 - (c) 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.

PY - 2017/11/29

Y1 - 2017/11/29

N2 - A radial 3D, structured light scanner, was developed from a laser projector and a wide field of view machine vision camera to inspect two - four inch diameter pipers, primarily in the nuclear industry. For identifying the nature and the spatial extent of defective regions, the system constructs a surface point cloud. A dominant source of error in the system is caused by manufacturing tolerances which leads to misalignment between the laser projector and the camera. This causes a triangulation error, reducing the accuracy of the result. In this paper, the error model of the misalignment of the laser and image plane. For a given target distance, we derive an almost linear relationship between angular error in degrees and the error in reported radius (distance from the probe to the surface) in mm and found that for the target 0.1 mm accuracy on a 4 inch pipe, the misalignment needs to be controlled to less than 0.05 degrees. Future work will consider a post manufacturing calibration routine to compensate for this misalignment.

AB - A radial 3D, structured light scanner, was developed from a laser projector and a wide field of view machine vision camera to inspect two - four inch diameter pipers, primarily in the nuclear industry. For identifying the nature and the spatial extent of defective regions, the system constructs a surface point cloud. A dominant source of error in the system is caused by manufacturing tolerances which leads to misalignment between the laser projector and the camera. This causes a triangulation error, reducing the accuracy of the result. In this paper, the error model of the misalignment of the laser and image plane. For a given target distance, we derive an almost linear relationship between angular error in degrees and the error in reported radius (distance from the probe to the surface) in mm and found that for the target 0.1 mm accuracy on a 4 inch pipe, the misalignment needs to be controlled to less than 0.05 degrees. Future work will consider a post manufacturing calibration routine to compensate for this misalignment.

KW - laser profiler

KW - structure from motion

KW - systematic error

KW - visual inspection

M3 - Paper

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Mathur N, Summan R, Dobie G, West G, Marshall S. Error model of misalignment error in a radial 3D scanner. 2017. Paper presented at IEEE SENSORS 2017, Glasgow, United Kingdom.