US 12,411,004 B2
Three-dimensional (3D) structured light camera based method and system for measuring gap of vehicle body
Junjie Deng, Changsha (CN); and Qing Li, Changsha (CN)
Assigned to SpeedBot Robotics Co., Ltd., Changsha (CN)
Filed by SpeedBot Robotics Co., Ltd., Changsha (CN)
Filed on Oct. 27, 2022, as Appl. No. 17/974,561.
Claims priority of application No. 202210148097.5 (CN), filed on Feb. 17, 2022.
Prior Publication US 2023/0258445 A1, Aug. 17, 2023
Int. Cl. G01B 11/14 (2006.01); G06F 18/23 (2023.01); G06T 7/00 (2017.01); G06T 7/73 (2017.01)
CPC G01B 11/14 (2013.01) [G06F 18/23 (2023.01); G06T 7/0004 (2013.01); G06T 7/73 (2017.01); G06T 2207/10028 (2013.01); G06T 2207/30252 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A three-dimensional (3D) structured light camera based method for measuring a gap of a vehicle body, comprising:
1) obtaining point cloud data obtained by a 3D structured light camera scanning a gap of a measured vehicle body;
2) with a group of point cloud data of the gap of the measured vehicle body in a transverse direction as a contour, extracting contour gap points of each contour to obtain a left side contour gap point set N0 and a right side contour gap point set N1;
3) computing a mean distance vector τ between contours on two sides of the gap of the measured vehicle body according to the left side contour gap point set N0 and the right side contour gap point set N1; and
4) computing the gap d of the measured vehicle body according to the mean distance vector τ;
wherein before the extracting the contour gap points of each of contours in step 2), the method further comprises: filtering discrete point clouds of each of the contours in the point cloud data; and after step 2) and before step 3), the method further comprises: fitting straight lines on the left side contour gap point set N0 and the right side contour gap point set N1 respectively to obtain straight lines L0 and L1, and deleting discrete contour gap points in the left side contour gap point set N0 and the right side contour gap point set N1 according to the straight lines L0 and L1.