Study on Data Fusion of a Camera and a Laser Range Finder for Objects Measurement

• Main Authors: Liang,Pei-Jung, 梁珮蓉
• Other Authors: Shiao,Ying-Shing
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/88916186221813102056

碩士 === 國立彰化師範大學 === 電機工程學系 === 104 === In this thesis, a method based on image processing and a Laser Range Finder (LRF) for measurement 3D dimensions of the object are studied. A fusion approach of the geometric features obtained by image processing and the data measured by the LRF is investigated. The image processing algorithm is designed for object recognition and its features analysis. The procedures of image processing includes color segmentation, image binarization, and morphological operations for object pattern segmentation. The measurement approach of the LRF and the camera perspective theory are different. The transformation and calibration methods of the LRF data are studied to combine the geometric features obtained by the image processing. The correspondence between the LRF scanning line and the object image is used for matching the laser scanning points and the image features. The object-matched patterns with LRF scanning data are fused to determine the surface profile and the depth of object. The experimental results demonstrated the proposed fusion algorithm can be used to reconstruct the 3D dimensions of object s by 2D image data and 1D LRF data.