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3-D MEASUREMENT FROM IMAGES USING A RANGE BOX

The work shows the progress of a procedure to determine the position and volumetric information of a solid object in the space of a robotic working cell. The proposed method uses a pair of images to obtain a 3-D mapping of the space around the solid. A virtual range box is initially positioned around the object. The box is adjusted around the object’s image projection border through perspective translation of its faces. The position and volume of the solid is estimated by reconstruction of the adjusted range box. The proposed technique has applications in robotics and manufacturing, and involves a research cooperation project between UNICAMP and PUCPR. Aspects of camera calibration, 3-D reconstruction and the practical processing of images are addressed in the paper.