Advanced 3D and Thermal Imaging

Research Focus

As the program continues to pursue developments in

intelligent automation and advanced process control systems,
3D sensing capabilities continue to be an important need.

This past year a project team focused on exploring alternative

3D imaging technologies with the goal of developing systems
to support the many guidance and control needs of the
program’s key development areas. Using a motion stage and
a bumblebee stereo camera (acquired from Point Grey
Research), the team conducted experiments to determine the
accuracy of the volume calculations produced by the
The project team focused on exploring
system’s software. A molded rubber chicken breast with
alternative 3D imaging technologies
known volumetric dimensions was used to conduct these
with the goal of developing systems to
tests. Initial results yielded image errors in the range of 6 mm
support the many guidance and control
or 3%. With adjustments to remove problematic edge effects
needs of the program’s key
and to optimize camera height, the average error was
development areas.
reduced to 2.3 mm but fell short of the desired 1 mm
accuracy for certain on-belt screening functions. The team then investigated employing structured
light screening concepts to secure the desired accuracy. Designing a system using a black and
white camera and a laser source to project a light stripe, the project team was able to deliver
performance accuracies of 0.6 mm.

One other issue that surfaced with regard to the stereo imaging system was the image process
time. The system was able to deliver results in a one- to two-second timeframe. These rates will
limit possible application areas, particularly most “belt” inspection applications, which require
speeds of up to 33 frames per second.

The team then focused on adapting these techniques to three development applications
underway in the program. The stereo imaging system was used to control robotic guidance on the
intelligent shackling and intelligent cutting initiatives. The structured lighting system was used on
the FoodPAC-funded core temperature initiative. In all cases, the selected systems performed
satisfactorily, but the team feels improvements can be made, particularly to enhance the
performance of the stereo imaging system, making it a more dynamic tool for this area.
Specifically, improvements in accuracy and speed of execution can be achieved by developing
other correspondence algorithms and by using sparse as opposed to dense techniques. More
work is planned in the upcoming year.

Project Director:
Wayne Daley - 404.894.3693 - wayne.daley@gtri.gatech.edu