Search

An accurate and reliable estimation of the transformation matrix between an optical sensor and a robot is a key aspect of the hand–eye system calibration process in vision-guided robotic applications. This paper presents a novel approach to markerless hand–eye calibration that achieves streamlined, flexible, and highly accurate results, even without error compensation. The calibration procedure is mainly based on using the robot’s tool center point (TCP) as the reference point. The TCP coordinate estimation is based on the robot’s flange point cloud, considering its geometrical features. A mathematical model streamlining the conventional marker-based hand–eye calibration is derived. Furthermore, a novel algorithm for the automatic estimation of the flange’s geometric features from its point cloud, based on a 3D circle fitting, the least square method, and a nearest neighbor (NN) approach, is proposed. The accuracy of the proposed algorithm is validated using a calibration setting ring as the ground truth. Furthermore, to establish the minimal required number and configuration of calibration points, the impact of the number and the selection of the unique robot’s flange positions on the calibration accuracy is investigated and validated by real-world experiments. Our experimental findings strongly indicate that our hand–eye system, employing the proposed algorithm, enables the estimation of the transformation between the robot and the 3D scanner with submillimeter accuracy, even when using the minimum of four non-coplanar points for calibration. Our approach improves the calibration accuracy by approximately four times compared to the state of the art, while eliminating the need for error compensation. Moreover, our calibration approach reduces the required number of the robot’s flange positions by approximately 40%, and even more if the calibration procedure utilizes just four properly selected flange positions. The presented findings introduce a more efficient hand–eye calibration procedure, offering a superior simplicity of implementation and increased precision in various robotic applications.

When a limb suffers a fracture, rupture, or dislocation, it is traditionally immobilized with plaster. This may induce discomfort in the patient, as well as excessive itching and sweating, which creates the growth of bacteria, leading to an unhygienic environment and difficulty in keeping the injury clean during treatment. Furthermore, if the plaster remains for a long period, it may cause lesions in the joints and ligaments. To overcome all of these disadvantages, orthoses have emerged as important medical devices to help patients in rehabilitation, as well as for self-care of deficiencies in clinics and daily life. Traditionally, these devices are produced manually, which is a time-consuming and error-prone method. From another point of view, it is possible to use imageology (X-ray or computed tomography) to scan the human body; a process that may help orthoses manufacturing but which induces radiation to the patient. To overcome this great disadvantage, several types of 3D scanners, without any kind of radiation, have emerged. This article describes the use of various types of scanners capable of digitizing the human body to produce custom orthoses. Studies have shown that photogrammetry is the most used and most suitable 3D scanner for the acquisition of the human body in 3D. With this evolution of technology, it is possible to decrease the scanning time and it will be possible to introduce this technology into clinical environment.

The article concerns the mechatronic design and experimental investigations of the HUBO automated human body scanning system. Functional problems that should be solved by using the developed scanning system are defined. These include reducing the number of sensors used while eliminating the need to rotate a human and ensuring the automation of the scanning process. Research problems that should be the subject of experimental research are defined. The current state of the art in the field of systems and techniques for scanning the human figure is described. The functional and technical assumptions for the HUBO scanning system are formulated. The mechanical design of the scanner, the hardware and information system architectures as well as the user’s mobile application are presented. The method of operation of the scanning system and its innovative features are discussed. It is demonstrated that the developed solution of the scanning system allows the identified problems to be overcome. The methodology of the experimental research of the scanning system based on the photogrammetry technique is described. The results of laboratory studies with the use of dummies and experimental research with human participation are presented. The scope of the research carried out allows answers to the identified research problems related to the scanning of the human figure using the photogrammetry technique to be obtained. As part of laboratory tests using a measuring dummy, a mean error of 0.65 mm and standard deviation of the mean of 0.65 mm were obtained for the best scanner configuration. Research with human participation was carried out for the scanner version, in which the scanning time was 30 s, with the possibility of its reduction to 15 s. The results of studies using realistic dummies and with human participation were compared using the root mean square error parameter (RMSE) provided by the AliceVision framework, which was available for all analyzed objects. As a result, it was observed that these results are comparable, i.e., the RMSE parameter is equal to about 1 px.

This study proposes a method to acquire an accurate 3D point cloud in radioactive and underwater environments using industrial 3D scanners. Applications of robotic systems at nuclear facility dismantling require 3D imaging equipment for localization of target structures in radioactive and underwater environments. The use of industrial 3D scanners may be a better option than developing prototypes for researchers with basic knowledge. However, such industrial 3D scanners are designed to operate in normal environments and cannot be used in radioactive and underwater environments. Modifications to environmental obstacles also suffer from hidden technical details of industrial 3D scanners. This study shows how 3D imaging equipment based on the industrial 3D scanner satisfies the requirements of the remote dismantling system, using a robotic system despite insufficient environmental resistance and hidden technical details of industrial 3D scanners. A housing unit is designed for waterproofing and radiation protection using windows, mirrors and shielding. Shielding protects the industrial 3D scanner from radiation damage. Mirrors reflect the light required for 3D scanning because shielding blocks the light. Windows in the waterproof housing also transmit the light required for 3D scanning with the industrial 3D scanner. The basic shielding thickness calculation method through the experimental method is described, including the analysis of the experimental results. The method for refraction correction through refraction modeling, measurement experiments and parameter studies are described. The developed 3D imaging equipment successfully satisfies the requirements of the remote dismantling system: waterproof, radiation resistance of 1 kGy and positional accuracy within 1 mm. The proposed method is expected to provide researchers with an easy approach to 3D scanning in radioactive and underwater environments.

This article concerns the research of the HUBO full-body scanner, which includes the analysis and selection of the scanner’s geometrical parameters in order to obtain the highest possible accuracy of the reconstruction of a human figure. In the scanner version analyzed in this paper, smartphone cameras are used as sensors. In order to process the collected photos into a 3D model, the photogrammetry technique is applied. As part of the work, dependencies between the geometrical parameters of the scanner are derived, which allows to significantly reduce the number of degrees of freedom in the selection of its geometrical parameters. Based on these dependencies, a numerical analysis is carried out, as a result of which the initial values of the geometrical parameters are pre-selected and distribution of scanner cameras is visualized. As part of the experimental research, the influence of selected scanner parameters on the scanning accuracy is analyzed. For the experimental research, a specially prepared dummy was used instead of the participation of a real human, which allowed to ensure the constancy of the scanned object. The accuracy of the object reconstruction was assessed in relation to the reference 3D model obtained with a scanner of superior measurement uncertainty. On the basis of the conducted research, a method for the selection of the scanner’s geometrical parameters was finally verified, leading to the arrangement of cameras around a human, which guarantees high accuracy of the reconstruction. Additionally, to quantify the results, the quality rates were used, taking into account not only the obtained measurement uncertainty of the scanner, but also the processing time and the resulting efficiency.

This work is aimed at describing the design of a mechanical and programmable 3D capturing system to be used by either 3D scanner or DSLR camera through photogrammetry. Both methods are widely used in diverse areas, from engineering, architecture or archaeology, up to the field of medicine; but they also entail certain disadvantages, such as the high costs of certain equipment, such as scanners with some precision, and the need to resort to specialized operatives, among others. The purpose of this design is to create a robust, precise and cost-effective system that improves the limitations of the present equipment on the market, such as robotic arms or rotary tables. For this reason, a preliminary study has been conducted to analyse the needs of improvement, later, we have focused on the 3D design and prototyping. For its construction, there have been used the FDM additive technology and structural components that are easy to find in the market. With regards to electronic components, basic electronics and Arduino-based 3D printers firmware have been selected. For system testing, the capture equipment consists of a Spider Artec 3D Scanner and a Nikon 5100 SLR Camera. Finally, 3D models have been developed by comparing the 3D meshes obtained by the two methods, obtaining satisfactory results.

This work focuses on the combination of two complementary non-destructive techniques to analyse the final deformation and internal damage induced in aramid composite plates subjected to ballistic impact. The first analysis device, a 3D scanner, allows digitalising the surface of the tested specimen. Comparing with the initial geometry, the permanent residual deformation (PBFD) can be obtained according to the impact characteristics. This is a significant parameter in armours and shielding design. The second inspection technique is based on computed tomography (CT). It allows analysing the internal state of the impacted sample, being able to detect possible delamination and fibre failure through the specimen thickness. The proposed methodology has been validated with two projectile geometries at different impact velocities, being the reaction force history on the specimen determined with piezoelectric sensors. Different loading states and induced damages were observed according to the projectile type and impact velocity. In order to validate the use of the 3D scanner, a correlation between impact velocity and damage induced in terms of permanent back face deformation has been realised for both projectiles studied. In addition, a comparison of the results obtained through this measurement method and those obtained in similar works, has been performed in the same range of impact energy. The results showed that CT is needed to analyse the internal damage of the aramid sample; however, this is a highly expensive and time-consuming method. The use of 3D scanner and piezoelectric sensors is perfectly complementary with CT and could be relevant to develop numerical models or design armours.

Robots are essential for the rapid development of Industry 4.0. In order to truly achieve autonomous robot control in customizable production lines, robots need to be accurate enough and capable of recognizing the geometry and orientation of an arbitrarily shaped object. This paper presents a method of inline inspection with an industrial robot (IIIR) for mass-customization production lines. A 3D scanner was used to capture the geometry and orientation of the object to be inspected. As the object entered the working range of the robot, the end effector moved along with the object and the camera installed at the end effector performed the requested optical inspections. The detailed information about the developed methodology was introduced in this paper. The experiments showed there was a relative movement between the moving object and the following camera and the speed was around 0.34 mm per second (worst case was around 0.94 mm per second). For a camera of 60 frames per second, the relative moving speed between the object and the camera was around 6 micron (around 16 micron for the worst case), which was stable enough for most industrial production inspections.

The effect of temperature on three-dimensional (3D) structured light scanners is a very complex issue that, under some conditions, can lead to significant deterioration of performed measurements. In this paper, we present the results of several studies concerning the effect of temperature on the mechanical base of 3D-structured light scanners. We also propose a software compensation method suitable for implementation in any existing scanner. The most significant advantage of the described method is the fact that it does not require any specialized artifact or any additional equipment, nor access to the thermal chamber. It uses a simulation of mechanical base thermal deformations and a virtual 3D measurement environment that allows for conducting virtual measurements. The results from the verification experiments show that the developed method can extend the range of temperatures in which 3D-structured light scanners can perform valid measurements by more than six-fold.