High-resolution structured light 3D vision for fine-scale characterization to assist robotic assembly

Abstract

3D imaging sensors are important for intelligent robots to figure out complicated and unknown assembly tasks. To perform a smooth robotic assembly with high precision, it is crucial to incorporate 3D imaging sensors that can scan, recognize, and characterize fine-scale features (e.g., small screws). We developed an integrated robotic 3D vision system based on high-resolution structured light 3D vision based on fringe projection. Our preliminary testing has demonstrated the promise of our integrated system in precision assembly operations supported by the capability of extracting fine-scale key features through high-resolution surface mapping.