3-Dimensional Measurement of the Cylindrical Object Using Computer Vision

컴퓨터 비젼을 이용한 원기둥형 물체의 3차원 측정

This paper presents a method to measure the position and orientation of a Cylindrical Object(unknown the eiameter and length) lying on a floor, using a camera. The two extreme cross section of the cylinder will be viewed as distorted ellipese or circular are, while its limb edge will be shown as two straight lines. The diameter of the cylinder is determined from the geometric properties of the two straight lines, which in turn provides information regarding the length of the cylinder. From the 3-dimensional measurement, the 3D coordinates of the center points of the two extreme cross sections are determined to give the position and orientation of the cylinder. This method is used for automated pick-and-place operations of cylinder, such as sheet coils, or drums in warehouses.