Sensors, Vol. 24, Pages 2385: Active Dual Line-Laser Scanning for Depth Imaging of Piled Agricultural Commodities for Itemized Processing Lines
Sensors, Vol. 24, Pages 2385: Active Dual Line-Laser Scanning for Depth Imaging of Piled Agricultural Commodities for Itemized Processing Lines
Sensors doi: 10.3390/s24082385
Authors:
Mohamed Amr Ali
Dongyi Wang
Yang Tao
The accurate depth imaging of piled products provides essential perception for the automated selection of individual objects that require itemized food processing, such as fish, crabs, or fruit. Traditional depth imaging techniques, such as Time-of-Flight and stereoscopy, lack the necessary depth resolution for imaging small items, such as food commodities. Although structured light methods such as laser triangulation have high depth resolution, they depend on conveyor motion for depth scanning. This manuscript introduces an active dual line-laser scanning system for depth imaging static piled items, such as a pile of crabs on a table, eliminating the need for conveyor motion to generate high-resolution 3D images. This advancement benefits robotic perception for loading individual items from a pile for itemized food processing. Leveraging a unique geometrical configuration and laser redundancy, the dual-laser strategy overcomes occlusions while reconstructing a large field of view (FOV) from a long working distance. We achieved a depth reconstruction MSE of 0.3 mm and an STD of 0.5 mm on a symmetrical pyramid stage. The proposed system demonstrates that laser scanners can produce depth maps of complex items, such as piled Chesapeake Blue Crab and ...
Source: Sensors - Category: Biotechnology Authors: Mohamed Amr Ali Dongyi Wang Yang Tao Tags: Article Source Type: research