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Bmo, Czech Republic, 2006 l~ l(jC ~>

Publications

INDUSTRIAL APPLICATIONS OF TRIANGULATION TECHNIQUE

Hona Kalova, Marek Lisztwan

Department ofControl and [nstrumelltation

FEEC, Bmo University ofTeclmology
Kole/ni 2906/4, 61200 Bmo, Czech Republic

Abstract: The aim of this paper is to introduce some examples of applications of an active
triangulation technique. This technique is one of the most used methods of optieal3-D
object measuring and reconstruction and has wide utilization in industry. There are
mentioned some significant attrihutes of this technique, description of working principle,
possible variants and so on. Copyright © 20051FAC

Kcywords: imagc proccssing, camcras, light. objcct rccognition, optical solution

1. INTRODUCTION activc triangulation tcchniqucs

passive triangulation techniques
Nowadays the optical methods of measuring found measuring systems with theodolites
...idespread applications in industry, for example in "shape from shading" techniques
surface inspection, inspection on tolerances and focus techniques
completeness, 3-D object recognition, surveillance of
secured areas, robot vision, navigation and so on . For
all these domains are significant to obtain three- 2.1 Prillciple ufan active triangulatiun method
dimensional notion (information about shape, surface, 3-
An active triangulation method is most often applied in
D coordinates) about investigated object. Unfortunately
practicc for its simplicity and robustness. This method is
in standard projective imaging, one dimension (usually
based on photogrammetric reconstruction of mea sured
the depth or distance information) from 3-D scenes is
object by illumination its surface and contemporaneous
lost. That's the reason why the onc of these main
scanning by CCD sensor. The princi pie of this
principles of computer 3-D object reconstruction has to
technique is shown on Fig. I. The light source. the
be used (lIau[.kcker and Geil3lcr, 1999):
detector and the illuminated part of measured object
form a triangle. The join b between light source and
Triangulation
dctcctor is callcd triangulation optical basis. The light
Optical Interferometry
source ray angle q is fixed whereas the angle on the
Time-of-F1ight Measurement
detector side f3 changes and it is defined by variable
illuminated point on CCD chip. Based on the knowledge
The merits of optical methods arc that there arc usually
of two angles , one side of the trianglc and thc attributes
very fast , non-contact and non-destructive. There are
of camera and objective (chip size and objective focal
mostly used charge coupled device cameras (CCD) and
length), the distance can be determined.
digital image processing.

2. TRIANGULA nON METHOD According to the light source we distinguish these three
variants:
The techniques hased on triangulation are most widely
used. Wc distinguish the follo\\~ng variants, which look 1-D triangulation light point
very dillcrenl. but use same principle: 2-D triangulation light stripe
3-D triangulation - light volume

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 I
•

'I
I
Fig . 2 . Calibration object.
I for matrix members (1/, t2, ... • t9) determination is
needed to make calibration by known object (known
spatial coordinates of points on object. Fig. 2). Then
data filc with sct of points in format 11 , 1', X , y, z is
necessary to provide. With these data the
Fig. 1. Principle of the triangulation method
transformation matrix is establi shed by minimisation
(I-D technique).
of differences hetween set and computed values.

2.2 Formulas.
2.3 Accura<:l'.
,I.-fathematical descnjllioll of l-TJ triallgulatioll. If the
If the investigated ohject is situated further to the
relleeted ray of the light is projected to the ,/' pi xci
call1era and I ight source. the projection a is bigger
from the total number pxl of pixels. than the size of
too. This means that reflected light ray is projected to
the corresponding projection a [mm] can be
the pixel more right (according to fig. 1). In this
calculated by formula (1) (Kalova and Lisztwan.
way, the di stance of the object can he obtained just
2005). where c is the chip size [mm].
from the position of the light point in the image from
c·n thc camcra . Thc mcasuri ng accuracy and also thc
a= -- [mm]. (1) usahility of this method depend on several
pxl parameters. The beller resolution (smaller difference
of measured distances of two neighbouring pixels -
The projection a is used to angle fJ computation lesser discretisation error) can be obtained by
if .. focal length I mm J). increasing si ze of base b. camera resolution pxl
fi=a(.'lg(c/~-aJ+90" n. (2) (number of photosensitive elements) and objective
size c . Fine accuracy is achieved in shorter measuring

focalleng.th/and on the other hand by lessening chip

distance I too . Important is angle a too.

The distance I can he determined due to angles a , f3

and the si ze of base b: 2.4 Scanning prucess.

b. sin a . sin f1 If the light volume is used. the whole object can be
l = [mm] (3) marked en block so no scanning is required. This is a
sinCUW" - Ca + fi)) big advantage as against 1-D and 2-D techniques,
when the object ha s to be measured step by step . By
using variants with light point or stripe just onc point
Calibratioll. These formulas are very sensitive to
or profile is ohtained during one measuring (one
accuracy of inserted data. Small shortcoming on
imagc). Gauging of wholc objcct rcquircs scvcral
input side brings big inexactitude on output.
separated measuring with changed position of object
Mathematical description for 2-D and 3-D
or beam of light. On the other side. these variants arc
triangulation techniques are more complicated too .
usuall y faster (lincar or specifically adaptcd camcra -
That ' s the reason why a transformation formula
see '2.7) and structurally simple (cheaper). There are
obtained by calibration is usually used. The
advantageously uscd "ith somc complemcntary
transform matrix (dimension 3x3) is used . Eaeh
linear or rotary movement (f. e . on production line .
constituent mc III ber rcprcscnts mutual relation
where thc measured objcct moves in it self).
between image (coordinates u, 1') and object space
(coordinates x. y. z). This relation is characterizes by
following equation (4). 2.5 Impurlanl drawbacks.

The di sa dvantage of triangulation method is that due

to the concavities on object the projected point. stripe
(4)
or volume is not always visible and so it can be said
nothing ahout object surface in these areas (Hlavac and
Sonka. 199'2) .

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 eeo

/\3 /
L-/ _--'V'---_______I
Fig. 3. The disadvantage or method.

On Fig . 3 the light plane is created by laser and the

sccnc is taken by camera. Gray colour on the picture
indicates the area that is not visible by camera. Lower
part of globe is not illuminated by laser too.

The surfaces that are almost tanl!ential to laser will not

be sharp on camera imag~s. The quality of
measuring depends on surface reflectivity of measured
objects. For example some granular materials or textile
or transparent materials that reflect light less can be
measured just trickily. Problems arise with glossy Fig . 4. a) Photo of measurement object h) Example of
materials too. because of rdlcdions and danCing fairies. image created by camera with special program.

On the measuring beginning is camera restarted. Then

2.6 JlIumilla/ioll.
A lascr is used with merit with I-D and 2-D (laser beam
is expanded by cylindrical lens to light plane)
techniques thanks to its dir"ctionalitv and high shin"
intensity. The three-dimensional technique works with
ditl'erent types of light source according to selected
variant (moire. colour code, light pattern, phase shift ... .
).
The aim of illumination is to mark parl of the object
surface. It is eonv"nient to obtain image on which just
this opposed mark is visible. If it is some other light in
the scene (other light sources or sunlight). it is neccssary
to reduce it. It can be used a thin band filter according to
source wavelength for this purpose. The wavelength
orthe used light source can be chosen in order to small
representation of this wavelength in secondary light
spectrum. For this reason it seems suitable the sources
emitted infrared light (7g0 .,. 106 nm). but this part of
spectrum is not visible for human eye and therefore the
system with this light source is hardly adjustable . For
difference magnilication between productive and useless
light can be laser stripe substitukd by serics of laser
beams (lighting intensity on illuminated surface will be
major).
2.7 Camera.
The linear CCD camera is used in I-D technique and the
matrix camera in 2-D and 3-D techniques . The time or
measuring can be_ especially in 2-D variant
significantly reduced by uSing special adjusted camera '
s program. This works in mode with gradational
exposition .
the exposition starts. It takes time just for taken out
several first rows. After taken out defined number of
rows the mcasured object is moved (or rotated) and new
exposition which overexposes rows that weren ' t taken
out yet is started. The areas around illuminated object
profile are dark (brightness level arollnd zero) so new
exposition doesn ' t change brightness or prceeding
proliles. Simultaneously with exposition other rows are
taken out again. This cycle is constantly repeated until
the whole object is measured. The example of, in this
way, created image is on Fig . 4b. This principle can be
used with I-D triangulation technique too. The s~'stem
setting (laser has to shine in whole mcasur"d area in the
camera ' s chip orthogonal plane) is easier.
3. APPLICATION EXAMPLES
The active triangulation method was used hy our group
(Computer Vision Group on Dept. or Control and
Instrumentation. FEEC, BUT) 111 several applications in
industry.
3.1 Acquisitioll of 3-D model of ha/form.
The technique with laser stripe was used for 3-D hat
rorm model acquIsition. The measured form is set on
rotary table with electronic control. After workplace
sdti~g and calibration of triangulation scanning device (in
object space) there arc taken hat profiles around whole
eircumlCrenee. The step of table rotation is 1°. For each
angle it is obtained onc image (example of image or the hat
illuminated by laser stripe is on Fig. Sa). Thus in this way
360 images are acquired.

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 Fig. 6. Characterful detects on welding seam:
pinholes, bubbles, wrong width.

By means of the diode laser with cylindrical lens the la ser

stripe is projected on the welding seam . Illuminated line.
that brings infomlation about profile of the seam. is recorded
by matrix CCD camera . In this way is acquircd. without
supplemcntal diagonal movement. the two-dimensional mea
suring method (coordinates in one plane height and width of
the s"am). The third dilllen sion (length of th" seam) is
ohtained hy axial rotation of the sen sor unit (system oflaser
and camera) above the car wheel (Kalova and Richter. 2004
).
Fig. 5. a) Image of hat form with laser stripe , b) Hat's
wire model.
The sensor unit was designed in order to acquire the
Then a contrast laser stripe that determines the hat
best image without reflections. shadows and umbral
profile is algorithmically found on cach image. Every
places and to see just required area. Units are fixed on
point of this profile is transformed (formula 4) from
the platform (Fig . 7). that enahles to set the system for
imagc coordinates (11.11) to spatial coordinates (x,v.z). di ilerent type, of the wheels.
From all profiles the hat model is put together (\\~re
model is shown on Fig . 5b) . Time of measuring is reduced by using four sensor
units. opera ting in parallel. During onc cyele (onc
3.2 Surface inspection of car welding seams. wheel). rotary unit (servomotor with IRC sen sor) turns
platform with sen sor units through ninety degrees. So
The similar principle like in chapter 3 .1 was used for in each unit mcasures onc quartcr of the wheel. Another
spection of car welding seams . The welding seam speed-up is achieved by special camera mode -
connects the wheel's bowl and rim . During welding sequential exposure (explained in chapter 2.7).
arise a lot of defects, for example: pinhole s. bubbles, Defective seam is on the Fig. 4a and corresponding part
protrusions (Fig. 6). The created seam can have wrong of camera image is on Fi g. 4h.
length or width or it can be wrongly located or
discontented too. All these defects have to be
automatically detected and system has to weed out
faulty wheels from production line .

Fig . 7. Platfoml with four sensor units.

261
From the image are restored the surface cylindrical spatial
coordinates r. z of the seam. Coordinate rp is obtained from
angular position of sensor units. Spatial coordinates are
evaluated by defect-detecting algorithm. At the cnd of the
working cycle all required details on the welding seam are
available and a good /bad signal is transmitted to the main
control unit. Wheels with significant defect are weeded out
from the production line.

3.3 I"olume measuring o.fviscose glue dropler.

Structured light projected through striped grating (3-D

technique) was used to inspect the volume of a viscose glue
droplet applied to a flat ha se in production of tantalie
capacitors (Honcc, et aI., 2001). For volume measuring we
can proceed from reconstructed surface (height of the
droplet ilrx,y) over the ba se). Volume is determined by
double intcgral over thc arca of base . Just onc image takcn
with one camera is required (Fig. 8a). Known pattern
(several stripes) is projected onto the investigated object.
The pattern is ddonm;d on the image by ohject surface (due
to angle between camera and projector) so the function
h(x,y) can be determined (Fig. Rb).
Fig. <). Photo of measuring system.

The camera-projector system has been designed as a single
unit where the camera and the projector are fixed on carrier
plate . Their optical axes intersect at the focusing point. This
design makes focusing and
maintenance easier and it Illcds other tcclmical
requirements of production line too. Two sensor units arc
used together (Fig. 9).
3.4 r -elll'cle detection and high profile acquisition.
The technique with laser beam (I-D technique) was used in
traffic industry for vehicle detection and high profile
acquisition. The syslcm can measure vehicle length and it~
velocity too. The vehicle can he classified according to the
high profile.

The device. formed from the linear camera and four lasers
fixed on a platform (Fig, 10). is placed above the roadway
and monitors the area helm.. The measurement rate is given
by the sampling frequency of the camera (around 0,5
ms/sample). The high profile of the vehicle (Fig. 11 c; Fig.
11 a and 11 b show corresponding photo and camera data) is
acquired in this way. Multiple lasers are used to provide
sufticient amount of data for measurement on the whole
traflic lane width .

Fig. 8. a) Droplet image with marked high profiles. Fig. 10. Photo of sensor unit.
h) High map function h (xy).

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 ~\

Fig . 12. a) Ilustration of features vector composing, b-d)

High profiles of standard passenger car. van and
truck .

templates. Value between 0 and 1 is result of each

compari son . Template with the biggest value
represents the most remini scent vehicle shape.

4 . CONCl.USION

This papcr summari zcs important attributcs of thc active

triangulation technique (optical fom1 of measuring)
which is very oftcn uscd for three-dimensional models,
high maps or high profiles of 3-D object acquisition or
for distance measuring. There are mentioned several
applications use thi s technique suecessfully .

ACKNOWLEDGEMENTS

The paper has bccn prepared with the suppo rt of VCAK

(Research Centre of Application Cybernetic), concretely
project No . I M0567.

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