An image ocquisition system, which is used to capture 2-D images of object/scene for 3-D image reconstruction, was developed based on triangulation technique

Arshad, Mohd Rizal

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BAHAGIAN PENYEIIDIKAN & PEMBANGUNANCANSETORIUNIVERSITI SAINS MATAYSIALoporon Akhir Projek Penyelidikon Jonoko Pendekl) Nomo Penyelidik:USM J/P - 06urrvIRSrir sarNs M.r;;ii;-lDITEPTM,l PAD4l-; AUc zoos' I(PENYET jOlKr n" ,, ti_r,,,rt.i.,.tt,t. ,Nomo Penyelidik-Penyelidik :Loin (Jiko berkoiton)Dr.Mohd RizolArshod(No Kod Pengenolon:710718 - l0 -6303)Dr.Mohd Noh Korsiti(Beliou teloh berpindoh ke UniversitiTeknologi Petronos podo tohun 2001)2) Pusot Pengojion/Pusot/Unit: Kejuruteroon Elekfrikdon Elektronik3) Tojuk Projek: Sistem Penglihoton Optik uniuk Aplikosi Robotikdon Aulomosi4) (o) Penemuon Projek/Abstrok(Perlu disediokon moklumon di ontoro l0O - 200 perkotoon di dolom Bohoso Moloysio donBohoso Inggeris. lni kemudionnyo okon dimuotkon ke dolom Loporon Tohunon BohogionPenyelelidikon & Pembongunon sebogoi solu coro untuk menyompoikon dopolon projekluon/puon kepodo pihok Universifi)An imoge ocquisition system, which is used to copture 2-D imoges ofobject/scene for 3-D imoge reconstruction, wos developed bosed ontriongulotion technique. The system consists of three devices, i.e. B/W CCDcomero, loser diode ond roiory toble. These devices ore ploced in such owoy thot o triongle is formed. A groting line, which hos o width of one pixel, ismounted in fronf of the toser diode. The purpose of the groting line is toproject o stripe line on the surfoce of the object/scene. In this reseorch, theUSM J/P-06- IUSM J/P - 06positions of the comero ond the loser diode ore fixed. In order to ocquiresufficient informotion for 3-D imoge reconstruction, the objectlscene isrototed 360o obout the ozimuth of the rotory toble. At every l5o, the rotorytoble is poused ond o reflected imoge of the object is coptured by thecomero. Therefore, 24 different imoges ore recorded in one completerotoiion. As imoges ocquired using CCD comero ore in two-dimensionolformot, proper imoge processing needs to be performed to reconstruct the 3-D model of the object/scene from its ossocioted 2-D imoges. The process of3-D imoge reconstruction involves o number of olgorithms ond steps, such osimoge pre-processing, feotures extroction, coordinote tronsformotion, etc.Softwore hod been developed using Borlond C++ Bullder fo perform theseolgorithms. Severol experiments using regulor ond inegulor shope of rigidobject/scene were corried out. The test results ore given ond they show thofthe shope of the constructed 3-D model correlotes sotisfoctory with theoriginol object/scene. Therefore, the methodology proposed in project issuitoble for 3-D imoge reconstruclion.Teknik segitigo dibongunkon bogi menyusun kemboli ke dolom imej "3-D"doripodo sotu sistem yong menongkop imej "2-D". Sistem yong digunokonterdiri doripodo peroloton seperti komero "CCD- B/W", "loser diode" donmejo pusing. Sotu jolur kisi "grafing /ine" dengon lebor sotu piksel dilekolkondi depon loser diode bogi tujuon jolur kisi tersebut disosorkon ke otospermukoon objek/imbos. Dolom kojion ini kedudukon komero don "loserdiodel' ditetopkon. Bogi mendopotkon kecekopon moklumot yong tinggidolom penyusunon imej "3-D" moko object dipusingkon sebonyok 360dorjoh doripodo poksi "ezimuth" mejo pusing. Bogi setiop pusingon l5dorjoh, pusingon diberheniikon don imej objek ditongkop oleh komero. Olehitu setiop sotu pusingon penuh moko 24 imej objek dopoi direkodkon. lmejyong diperoleh dengon menggunokon komero CCD odoloh 2 dimensi,moko sotu pemproseson imejyong sesuoi diperlukon untuk membino semuloUSM J/P-06- 2USM J/P - 06model 3 dimensi bogi objek yong ditongkop. Proses penyusunon semulo imej3 dimensiinimenggunokon beberopo olgoriimo don loin-loin longkoh sepertipro pemproseson, pemisohon ciri, tronsformosi koordinqt don loin-loin oturon."Builder Borlond c++" dibongunkon bogi meloksonokon olgoritmo.Beberopo ujikoji dengon menggunokon bentuk objek "regulor" don"irregulor" diloksonokon. Keputuson ujikoji menunjukkon bentuk doripodopenyusunon model 3 dimensi odoloh somo don memuoskon dibondingkondengon objek osol. Oleh sebob itu metodologiyong dicodongkon di dolomprojek iniqdoloh bersesuoion unluk penyusunon semulo imej3 dimensi.(b) Senoroikon Koto Kunciyong digunokon didolom obstrok:Bohoso MolovsioTeknik SegitigoPenyusundn PerrnukoonPengujukon JorokModel3 dimensiBohoso lnooerisTriongulotionSurloce MoppingRonge Meosurement3-Dimensionol Model5) Output don Foedoh Projek(o) Penerbiton (termosuk loporon/kertos seminor)(Silo nyotokon jenis, fojuk, pengorong, lohun ferbiion don di mono leloh diterbit/dibentongkon)o. Tjio Hok Hoo & M. Rizol Arshod {2001). LoserSurfoce Mopping ForIntelligent Automotion. Ihe l" Sfudenf Conference on Reseorch &Development -Scored2)1l. Poper No. 149, Kuolo Lumpur,MALAYSIAb. Tjio Hok Hoo & M. Rizol Arshod (2002). A Simple Surfoce MoppingTechnique using Loser Triongulotion Method. Proceeding of thelnternotionol Conference on Opfo-e/ectronics ond LoserApplicotions - /COLA'02, JokorIo, INDONESIA.3s rl?Jg f f aTUSM J/P-06- 3USM J/P - 06(b) Foedoh-Foedoh Loin Seperti perkembongon produk, prospekKomersiolisosi Don Pendoftoron poten.(Jiko odo don jiko perlu, silo gunokon kertos berosingon)Sisiem yong dibongunkon ini mempunyoi potensi untuk dioplikosikonkepodo sistem pemodelon pontos untuk penghosilon produk boru. lomempercepotkon proses penghosilon model dolom proses rekobeniukproduk don membolehkon proses digifolisosi rekoon dilokukon dengonmudoh. Sislem ini boleh digobungkon ke dolom sislem penghosilonproduk sedio odo.(c) Lotihon Gunotenogo Monusioi) Pelojor siswozoh: Seorong pelojor sorjono (Tjie Hok Hoo)ii) Pelojor Prosiswozoh: Tiodoiii) Loin-loin:6. Peroloton Yong Teloh dibeli:. Bubble-Jet Printer (lx). BSll Microcontroller Development Kit (lx)o Frome Grobber (2x - Colour & Monochrome) - DT Tronslotion. 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Sistem penglihatan optik untuk aplikasi robotik dan automasi

http://eprints.usm.my/10893/1/Sistem_Penglihatan_Optik_untuk_Aplikasi_Robotik_(PPK_Elektrik_dan_Elektroni_).pdf

Sistem penglihatan optik untuk aplikasi robotik dan automasi.

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