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Dual-beam structured light vision system for 3D coordinates measurement

Recognition and identification of weld environment and seam dimensional position by computer vision is a key technology for developing advanced autonomous welding robot. In this paper, based on the robot laser curve seam tracking background we present our dual-beam structured light system that generates richer information than obtained only from one structured light system. Then the orthogonal Zernike moments edge detection is adopted to localize the centre of the light stripe. The obtained centre precision is subpixel. At the same time, the calibration of the CCD camera and the dual beam structured light is given. In the end, the application of the proposed system is shown and experiments have been implemented and results show that the approach is feasible.