Towards Precise Real-Time 3D Difference Detection for Industrial Applications

Svenja Kahn*, Ulrich Bockholt, Arjan Kuijper, Wolf-Dietrich Fellner

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

Abstract

3D difference detection is the task to verify whether the 3D geometry of a real object exactly corresponds to a 3D model of this object. We present an approach for 3D difference detection with a hand-held depth camera. In contrast to previous approaches, with the presented approach geometric differences can be detected in real-time and from arbitrary viewpoints. The 3D difference detection accuracy is improved by two approaches: first, the precision of the depth camera's pose estimation is improved by coupling the depth camera with a high precision industrial measurement arm. Second, the influence of the depth measurement noise is reduced by integrating a 3D surface reconstruction algorithm. The effects of both enhancements are quantified by a ground-truth based quantitative evaluation, both for a time-of-flight (SwissRanger 4000) and a structured light depth camera (Kinect). With the proposed enhancements, differences of few millimeters can be detected from 1 m measurement distance.
Original languageEnglish
Pages (from-to)1115-1128
JournalComputers in Industry
Volume64
Issue number9
DOIs
Publication statusPublished - 2013
Externally publishedYes

Fields of Expertise

  • Information, Communication & Computing

Treatment code (Nähere Zuordnung)

  • Application

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