Pose Estimation using 1D Fourier Transform and Euclidean Distance Matching of CAD Model and Inspected Model Part

2nd International Manufacturing Engineering Conference; 3rd Asia-Pacific Conference on Manufacturing Systems

Zulkoffli, Zuliani^1 ; Bakar, Elmi Abu^2

School of Mechanical Engineering, Universiti Sains Malaysia, Nibong Tebal, Pulau Pinang

14300, Malaysia^1

School of Aerospace Engineering, Universiti Sains Malaysia, Nibong Tebal, Pulau Pinang

14300, Malaysia^2

关键词: 1d fourier transforms;    Correlation graphs;    Euclidean distance;    Magnitude spectrum;    Maximum magnitudes;    Pre-processing stages;    Processing stage;    Reliable results;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/114/1/012038/pdf
DOI  :  10.1088/1757-899X/114/1/012038

来源: IOP

【 摘 要 】

This paper present pose estimation relation of CAD model object and Projection Real Object (PRI). Image sequence of PRI and CAD model rotate on z axis at 10 degree interval in simulation and real scene used in this experiment. All this image is go through preprocessing stage to rescale object size and image size and transform all the image into silhouette. Correlation of CAD and PRI image is going through in this stage. Magnitude spectrum shows a reliable value in range 0.99 to 1.00 and Phase spectrum correlation shows a fluctuate graph in range 0.56 - 0.97. Euclidean distance correlation graph for CAD and PRI shows 2 zone of similar value due to almost symmetrical object shape. Processing stage of retrieval inspected PRI image in CAD database was carried out using range phase spectrum and maximum magnitude spectrum value within ±10% tolerance. Additional processing stage of retrieval inspected PRI image using Euclidean distance within ±5% tolerance also carried out. Euclidean matching shows a reliable result compared to range phase spectrum and maximum magnitude spectrum value by sacrificing more than 5 times processing time.