3-D scanning subsystem for visual inspection of agricultural products

The subject of this paper is the system scanning and 3-D model determination. The main purpose of the proposed system is a 3-D model reconstruction of agricultural products. The purpose of these models is the determination of examined product dimensions and calculation of other relevant parameters such as volume or shape. In addition to physical characteristics, the system allows the analysis of the product colors which are one of the most important parameters. The paper describes details of the pinhole camera model that is used during calibration and scanning, which allows the removal of image distortions resulting from the imperfection of optics (lens distortion). Calibration procedures are presented with one camera as well as with stereo cameras. It is possible to determine the point in real space and to create a model of the observed object by using stereo triangulation and camera model parameters. Finally, we show the results of the system operation as well as possible improvements which can increase performance.