CPC G05B 19/4097 (2013.01) [G06T 7/001 (2013.01); G06T 7/33 (2017.01); G06T 7/70 (2017.01); G06T 19/20 (2013.01); G05B 2219/35134 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20021 (2013.01); G06T 2207/20072 (2013.01); G06T 2207/20221 (2013.01); G06T 2219/2004 (2013.01); G06T 2219/2016 (2013.01)] | 15 Claims |
1. An object inspection system, the system comprising: a scanning unit configured to scan a calibration target to obtain a point cloud representing the target; and a processor configured to receive the point cloud representing the target from the scanning unit, and to: tessellate the point cloud into one or more tiles containing a plurality of points of the point cloud; for each of the one or more tiles, fit a plane model to the points contained in the tile, wherein the plane model includes value of a three-dimensional vector normal to the surface of the plane and the distance of the plane from a coordinate system reference point; add the normal vectors from each of the one or more tiles and calculate the average of the collection of normal vectors; use average normal vector orientation to define a reference plane outside the point cloud and calculate each cloud point to reference plane; and use a histogram to find local maximums, and create a group of points each with a distance to the defined reference plane that falls within a tolerance threshold to the local maximum; and monitor the performance of the scanning unit.
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