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วิเคราะห์หารูปร่างของรอยเชื่อมและสร้างพื้นผิวสามมิติ
ภาควิชาวิศวกรรมไฟฟ้าและคอมพิวเตอร์ คณะวิศวกรรมศาสตร์
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ
Detecting welding seam and Surface reconstruction from 3D Points
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
laser rangefinder
plane
robot
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
path of robot
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
path of robot
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
path of robot
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Introduction
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
First layer
path of robot
edge detection
first seam
second seam
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Second layer
second seam
first seam
edge detection ( first , second )
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Software Development
• IDE
– Visual Studio 2008 (CSharp)
• Tao framework
– OpenGL
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Edge detection algorithm
edge left edge right
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Edge detection algorithm
edge left edge right
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Edge detection algorithm
edge left edge right
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Software
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Software
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Software
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Noise Value : 0.29 Percentage : 1.00
Value : 1.00 Percentage : 0.11
Value : 1.00 Percentage : 1.00
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Future !!!
edge detection ( first , second )
• Introduction • Sequence of detecting welding seam
– First layer and first seam – First layer and second seam – Second layer and first seam – Second layer and second seam
• Software Development • Edge detection algorithm • Noise • Future !!!
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Overview
C O M P U T E R E N G I N E E R I N G
K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K
Credit by : Microsoft PowerPoint 2010