Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1
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Transcript of Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1
![Page 1: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/1.jpg)
วิเคราะห์หารูปร่างของรอยเชื่อมและสร้างพื้นผิวสามมิติ
ภาควิชาวิศวกรรมไฟฟ้าและคอมพิวเตอร์ คณะวิศวกรรมศาสตร์
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ
Detecting welding seam and Surface reconstruction from 3D Points
![Page 2: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/2.jpg)
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
![Page 3: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/3.jpg)
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
![Page 4: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/4.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
laser rangefinder
plane
robot
![Page 5: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/5.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
![Page 6: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/6.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
![Page 7: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/7.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
![Page 8: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/8.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
path of robot
![Page 9: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/9.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
path of robot
![Page 10: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/10.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
path of robot
![Page 11: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/11.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
![Page 12: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/12.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
![Page 13: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/13.jpg)
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
![Page 14: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/14.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
First layer
path of robot
edge detection
first seam
second seam
![Page 15: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/15.jpg)
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
![Page 16: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/16.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Second layer
second seam
first seam
edge detection ( first , second )
![Page 17: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/17.jpg)
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
![Page 18: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/18.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Software Development
• IDE
– Visual Studio 2008 (CSharp)
• Tao framework
– OpenGL
![Page 19: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/19.jpg)
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
![Page 20: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/20.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Edge detection algorithm
edge left edge right
![Page 21: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/21.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Edge detection algorithm
edge left edge right
![Page 22: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/22.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Edge detection algorithm
edge left edge right
![Page 23: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/23.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Software
![Page 24: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/24.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Software
![Page 25: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/25.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Software
![Page 26: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/26.jpg)
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
![Page 27: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/27.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Noise Value : 0.29 Percentage : 1.00
Value : 1.00 Percentage : 0.11
Value : 1.00 Percentage : 1.00
![Page 28: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/28.jpg)
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
![Page 29: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/29.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Future !!!
edge detection ( first , second )
![Page 30: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/30.jpg)
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
![Page 31: Detecting Welding Seam and Surface Reconstruction From 3D Points - Phase 1](https://reader036.fdocuments.net/reader036/viewer/2022081821/549557baac7959042e8b4e08/html5/thumbnails/31.jpg)
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
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