Unique sensor fusion system for coordinate-measuring machine tasks

Marilyn Nashman; Billibon Yoshimi; Tsai Hong Hong; William G. Rippey; Martin Herman

doi:10.1117/12.287633

22 September 1997 Unique sensor fusion system for coordinate-measuring machine tasks

Marilyn Nashman, Billibon Yoshimi, Tsai Hong Hong, William G. Rippey, Martin Herman

Proceedings Volume 3209, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems; (1997) https://doi.org/10.1117/12.287633
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States

Abstract

This paper describes a real-time hierarchical system that fuses data from vision and touch sensors to improve the performance of a coordinate measuring machine (CMM) used for dimensional inspection tasks. The system consists of sensory processing, world modeling, and task decomposition modules. It uses the strengths of each sensor -- the precision of the CMM scales and the analog touch probe and the global information provided by the low resolution camera -- to improve the speed and flexibility of the inspection task. In the experiment described, the vision module performs all computations in image coordinate space. The part's boundaries are extracted during an initialization process and then the probe's position is continuously updated as it scans and measures the part surface. The system fuses the estimated probe velocity and distance to the part boundary in image coordinates with the estimated velocity and probe position provided by the CMM controller. The fused information provides feedback to the monitor controller as it guides the touch probe to scan the part. We also discuss integrating information from the vision system and the probe to autonomously collect data for 2-D to 3-D calibration, and work to register computer aided design (CAD) models with images of parts in the workplace.

Citation Download Citation

Marilyn Nashman, Billibon Yoshimi, Tsai Hong Hong, William G. Rippey, and Martin Herman "Unique sensor fusion system for coordinate-measuring machine tasks", Proc. SPIE 3209, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems, (22 September 1997); https://doi.org/10.1117/12.287633

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available