Integration of range and intensity data to improve vision-based three-dimensional measurements

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Abstract
Conventional vision techniques based on intensity data, such as the data produced by CCD cameras, cannot produce complete 3D measurements for object surfaces. Range sensors, such as laser scanners, do provide complete range data for visible surfaces; however, they may produce erroneous results on surface discontinuities such as edges. In most applications, measurements on all surfaces and edges are required to completely describe the geometric properties of the object, which means that intensity data alone or range data alone will not provide sufficiently complete or accurate information for these applications. The technique described in this paper uses a range sensor the simultaneously acquires perfectly registered range and intensity images. It can also integrate the range data with intensity data produced by a separate sensor. The range image is used to determine the shape of the object (surfaces) while the intensity image is used to extract edges and surface features such as targets. The two types of data are then integrated to utilize the best characteristics of each. Specifically, the objective of the integration is to provide highly accurate dimensional measurements on the edges and features. The sensor, its geometric model, the calibration procedure, the combined data approach, and some results of measurements on straight and circular edges (holes) are presented in the paper.

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