CN110398199A - A kind of track clearance detection method - Google Patents
A kind of track clearance detection method Download PDFInfo
- Publication number
- CN110398199A CN110398199A CN201910607476.4A CN201910607476A CN110398199A CN 110398199 A CN110398199 A CN 110398199A CN 201910607476 A CN201910607476 A CN 201910607476A CN 110398199 A CN110398199 A CN 110398199A
- Authority
- CN
- China
- Prior art keywords
- camera
- limit
- invade
- detection method
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/04—Control, warning, or like safety means along the route or between vehicles or vehicle trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
The present invention relates to railway security detection techniques, and in particular to a kind of track clearance detection method, comprising: marks the camera in advance using Zhang Zhengyou scaling method, obtains camera parameter；Using the location information of the computer, the geographic location data message of platform is transferred, determines current location station and platform title；During train operation, video image is shot；According to projection structure optical measurement techniques, solution phase is carried out；Three-dimensional computations are carried out using solution phase result, generate three-dimensional point cloud；Z value each in three-dimensional point cloud is compared with limit standard is invaded, judges whether to invade limit；Wherein, it if invading limit, carries out invading limit alarm, and determine and invade limitation and invade extreme position, if not invading limit, terminates detection.The present invention solve the problems, such as manual detection mode detection speed it is slow, by artificial subjective factor influenced and laser line scanning measurement method can only discontinuous measurement, while when carrying out platform, the detection of shelter limit without requiring the window phase of train operation.
Description
Technical field
The present invention relates to railway security detection techniques, and in particular to a kind of track clearance detection method.
Background technique
The limit state of each platform of Along Railway and shelter is efficiently and accurately monitored, is pacified to railway transportation is reinforced
Entirely, prevent driving accident to be of great significance.Every year, each Railway Bureau will put into a large amount of human and material resources periodically to the wind of railway
Awning, platform limit state of invading be monitored.
It is usually that may invade point of accumulation in artificial select in the way of the hand dippings such as plumb line that traditional railway, which invades limit monitoring,
Afterwards, the manual measurements tool such as corresponding plumb line is selected, carries out invading limit monitoring.The hand dippings mode such as plumb line has speed mistake
Slowly, the disadvantages of artificial subjective factor is affected.
In addition to hand dipping mode, currently have based on laser line scanning mensuration.This method is a kind of based on triangle survey
Active type measure technology away from principle is detected that is, by a laser line projection to three-dimension object by CCD camera or position light and shade
Device receives the information returned, can calculate corresponding three-dimensional coordinate.Current laser line scanning equipment mostly uses greatly certain
Interval measurement (i.e. every a certain distance, measures primary result).Laser Measuring applied to platform, shelter limit status monitoring
Measuring technical speed is 1.1m/s or so, and currently having much is discontinuous measurement, thus can not be continuously finished and invade limit monitoring, and pole has can
It can leak through and invade point of accumulation between measurement two o'clock.
In addition, the above two technology currently existed monitoring shelter, when invading limit state of platform cap, require for
Current platform arranges the train operation window phase of certain time.
Summary of the invention
The present invention provides a kind of track clearance detection method, solves manual detection mode detection speed and is led slowly, artificially
Sight factor influence and laser line scanning measurement method can only discontinuous measurement the problem of.In addition, this method is carrying out platform, wind and rain
Without requiring the window phase of train operation when canopy limit detects.
The specific technical solution of the present invention is as follows:
A kind of track clearance detection method, using a kind of real-time detection apparatus, the device include computer, camera and
Projector, the camera are used to return the image of shooting, and the computer is used to calculate the three-dimensional coordinate information of measurement, described
For projecting raster image, the camera is connect with computer by USB3.0 data line projector, the projector and meter
Calculation machine is connected by HDMI connecting line characterized by comprising
The camera is marked in advance using Zhang Zhengyou scaling method, obtains camera parameter；System is demarcated, is taken the photograph
As the external posture information parameter of head and projector；
Using the location information of the computer, the geographic location data message of platform is transferred, determines current location station
And platform title；
During train operation, video image is shot；
To video image framing, solution phase is carried out according to projection structure optical measurement techniques to each frame image；
Three-dimensional computations are carried out using solution phase result, generate three-dimensional point cloud；
Z value each in three-dimensional point cloud is compared with limit standard is invaded, judges whether to invade limit；
Wherein, it if invading limit, carries out invading limit alarm, and determine and invade limitation and invade extreme position, if not invading limit, terminates inspection
It surveys.
Based on the above technical solution, following technical characteristic also can be used to be further defined that
According to three-dimensional point cloud, real-time exhibition 3-D image.
Video image is shot using high speed camera.
The solution phase uses Fourier's outline technology.
It is proposed that phase-camera coordinates system measurement model, each pixel for calculating each frame exist using Gai Shaoyan, up to winged roc
Three-dimensional coordinate under camera coordinate system forms three-dimensional point cloud.
Extreme position is invaded by the determination of video odometer technology.
The invention has the following advantages:
1) shelter, platform cap to rail center line are measured using projection structure optical measurement techniques, can rapidly detected
Point of accumulation is invaded on platform, shelter, and equipment operation is primary, and the measurement for invading limit data of platform, shelter can be completed, and current
Laser line scanning technology ratio, has greatly saved time cost；
2) each frame for using the collected video flowing of high speed camera, being capable of real-time continuous measurement platform cap and shelter
Limit data, measurement result are planar survey, therefore are not in that leak source existing for the interval scan of the technologies such as laser line scanning is asked
Topic, so that invading limit detection more fully, overall reduction security risk avoids missing inspection problem；
3) use video odometer technology, can quickly detection and localization to the position invaded where point of accumulation, facilitate work people
Quickly point of accumulation is invaded in positioning to member, and limit hidden danger is invaded in exclusion, promotes worker productivity；
4) computer location information is utilized, station and platform title can be obtained automatically in real time, it is not necessary that platform is manually entered
Data；
5) since projecting structural optical measuring speed is fast, it can directly be deployed on the train of low speed operation, carry out
When platform, shelter limit state-detection, the window phase of request train operation is not needed
Detailed description of the invention
In order to illustrate the embodiments of the present invention more clearly or technical solution in the prior art, below will to embodiment or
Person's attached drawing needed to be used in the description of the prior art is briefly described.It is readily apparent that the accompanying drawings in the following description is only
It is only some embodiments of the present invention, for those of ordinary skills, without creative efforts,
It can also other accompanying drawings can also be obtained according to these attached drawings.
Fig. 1 shows the overhaul flow chart of the specific embodiment of the present invention；
Fig. 2 shows the structural schematic diagrams of structured light projection detection system；
Fig. 3 shows the schematic illustration of Gai Shaoyan, the phase method measuring three-dimensional profile system model proposed up to winged roc.
Specific embodiment
The embodiment of the present invention provides a kind of platform, shelter limit detection method, solves existing perpendicular, laser detection
The detection such as technology speed is slow, the problems such as can not continuously detecting and needing train operation window phase.
For make goal of the invention of the invention, feature, a little can be more significant and understandable, below in conjunction with the present invention
Embodiment in attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described.Obviously, it is retouched below
The content stated is only a part of the embodiments of the present invention, and not all embodiment.Based on the embodiment of the present invention, this field
Those of ordinary skill's every other embodiment obtained without making creative work, belongs to guarantor of the present invention
The range of shield.
As shown in Figure 1, the embodiment of the present invention provides a kind of platform, shelter limit detection method, comprising:
Step 1: mark the camera in advance using Zhang Zhengyou scaling method, obtain camera parameter (including focal length, optical center and
Warping factor etc.).The position orientation relation of camera and projector is determined simultaneously.
" Zhang Zhengyou calibration " refers to that Zhang Zhengyou teaches the tessellated camera marking method in monoplane proposed in 1998, is situated between
Between traditional standardization and self-calibration method, the shortcomings that overcoming the high-precision calibrating object of traditional standardization needs, and only need to make
The gridiron pattern printed with one.Simultaneously also relative to self-calibration for, improve precision, convenient for operation.Therefore
In terms of Zhang Shi standardization is widely used in computer vision.
Step 2: using the location information of portable computer, transferring the geographic location data message of platform, determine current
Position station and platform title.
Using the location information of portable computer, interchange of position data are transferred, are obtained currently from corresponding position data
The title of station and website.Pass through the technology, it may not be necessary to which operator is manually entered current platform data, so that invading
The use of limit monitoring is more quick.
Step 3: during train operation, shooting video image.
High speed camera has the characteristics that image taking speed is fast, FPS high, and for swiftly passing object, the result of shooting is still
With relatively clear imaging effect.High speed camera can still have good imaging on the basis of acquisition per second thousands of frames
Effect, and it is smaller to distort, the sinusoidal grating on object for projecting to high-speed mobile still has preferable sine.Therefore
Using each frame of the collected video flowing of high speed camera, the operation of three-dimensional data is carried out, projecting structural optical pair is considerably increased
The measurement effect of high-speed moving object.The high speed camera used is the industrial camera of Flir (BFS-U3-32S4C-C), and FPS is
118 frames.
Step 4: according to projection structure optical measurement techniques, carrying out solution phase.
Projecting structural optical method is measurement of full field method, and measuring speed is fast, precision is high, simple in measurement system structure, is easily achieved
Computer control.The structural light stripes figure that one group is distributed by projecting structural optical method according to certain rules by optical projection system is (such as sine
Striped) project to testee surface, the height of testee modulates the amplitude and phase of projected fringe, using at
As the distressed structure striations figure of system acquisition, using certain algorithm by the elevation information in deforming stripe figure demodulate come,
To obtain the three-D profile of object.Currently have using the ranging in other scenes of projecting structural optical method, such as Defect Detection, inverse
To engineering, robot guiding, landforms measurement, medical information etc..
In general solving phase includes two parts, solve main value and period.
Realize that scene, solution phase are more appropriate using Fourier Transform Profilomery according to current.The characteristics of Fourier Transform Profilomery is
Frequency domain processing is done in frequency domain by transforming to time-domain signal, and Fourier change is carried out to the space time-domain signal of deformed grating
It changes, obtains its corresponding frequency-region signal；The frequency spectrum of deformed grating is filtered in frequency domain, by the DC component of signal and its
Its high fdrequency component is removed, only fundamental component contained by remaining reference grating, then carries out inverse fourier transform, comes back to time domain sky
Between analyzed.
The solution period guides figure using quality.The committed step that quality guides phase-unwrapping algorithm is exactly in phase masses
Pixel diffusion is carried out under the guidance of figure, algorithm basic process is to detect its four neighborhood pixels from the pixel of high quality,
Neighborhood pixels are unfolded, the adjacent pixels to be deployed of pixel after expansion are stored in " contiguous sequence ", according to phase matter
Amount successively removes high quality pixel from " contiguous sequence " and carries out phase unwrapping, and updates " contiguous sequence ", repeats the above steps straight
It is finished to all start pixels.
Step 5: carrying out three-dimensional computations using solution phase result, generate three-dimensional point cloud.
After solving absolute phase using quality guidance figure and Fourier Transform Profilomery, it can utilize Gai Shaoyan, Da Feipeng
The phase of proposition-camera coordinates system measurement model calculates three-dimensional coordinate of each pixel of each frame under camera coordinates system.
The thought of the measurement model is: phase and height corresponding relationship being considered in three dimensions, obtained in camera coordinate system
Mapping relations between the phase of object point, phase point and object point three-dimensional coordinate.The measurement model is as shown in figure 3, wherein Op is projection
The optical centre position of instrument, Oc are CCD camera optical centre position.OXYZ is reference frame, and OXY is parallel to throwing
Shadow face, Y-axis are parallel to grating fringe, and Z axis passes through projection centre Op.P ' is projection of the object point P in OXY plane, and P ", D " is respectively
It is the projection of P ', D in OXY plane X-axis.
The measurement model is it needs to be determined that Ф-(Xc, Yc, Zc) and (m, n)-(Xc, Yc, Zc) relational expression.Phase is determined first
Relationship between object point three-dimensional coordinate, as shown in Equation 1:
A1, a2, a3, a4, a5, a6, a7, a8 are system parameter to be calibrated in formula 1, by acquiring enough sample points
(Xc, Yc, Zc, Ф) is collecting sample point (Xc, Yc, Zc, Ф), is demarcated using scaling board.Establish as a result, phase with
The connection of camera coordinates system, the calibration measurement model are compared with traditional triangle ranging, are had the advantage that
1) it is not directly linked with the plane of reference；
2) camera and projector can use any relative position, not any stringent requirement intersected in parallel；
3) what the measurement model obtained is the coordinate under camera coordinates system, rather than the referential coordinate in classical model.
The measurement model can directly obtain the coordinate under camera coordinates of each pixel of projection grating imaging, make
Obtaining real-time detection apparatus can measure the arbitrary motion track of target.
Step 6: according to three-dimensional point cloud, real-time exhibition 3-D image.
Step 7: Z value each in three-dimensional point cloud is compared with limit standard is invaded, judges whether to invade limit, if invading limit, into
Row invades limit alarm, and determines and invade limitation and invade extreme position, if not invading limit, terminates detection.
The data that obtain using 3-D image and limit standard is invaded, the limit part invaded in three-dimensional point cloud is labeled, and
It is calculated to invade limitation and invade extreme position, and alert.About extreme position is invaded, using the position tracking skill of camera
Art, which positions position of any time camera relative to platform starting point, can be accurately positioned it for the abnormal point monitored
Position.
As shown in Fig. 2, a kind of real-time detection apparatus mentioned in the present invention, including a portable computer, one
Camera and a projector need to use the data line of USB 3.0 to connect camera to guarantee real-time Data Transmission speed
And portable computer.Camera is used to return the image taken, and portable computer is then used to calculate measurement target in time
Three-dimensional information.The three-dimensional information can be stored by Radio Transmission Technology (WLAN/4G) and arrive data backup server.Meanwhile just
It takes formula computer and is compared the three-dimensional information being calculated with limit standard is invaded, the part for invading limit provides corresponding pre-
It is alert.
The real-time detection apparatus uses the mountable small and exquisite CCD camera and projector in outside vehicle, and volume is not
It can be beyond vehicle gauge of the locomotive as defined in GB146.1.
In addition to portable computer needs to provide wireless data transfer services for Backup Data server, it is not any its
His electromagnetic signal, thus the real-time detection apparatus can reduce the interference to extraneous electric appliance to the maximum extent.Furthermore, it is only necessary to
It powers for portable computer, projector, and the connection between portable computer and camera is then using standard
USB3.0 data line.The cable that thus care testing device uses meets the regulation of TB/T1484.1-2010.
The those of ordinary skill of the technical field can be understood that the specific work process of above system can
With with reference to the corresponding process in preceding method embodiment, details are not described herein.
It is tested, obtained worst error is 1.711mm, minimal error 0.584mm, and average measurement error is
1.113mm.When measurement distance is 1m or so, projection grating can cover the measurement range of 1.2m or so (with specific projector
It prepares related).Measuring speed is 120 frames/s (related with specific camera preparation), therefore under currently used appointed condition, reason
It is up to 144m/s (518.4km/h) by upper measuring speed.
Therefore, the present invention designs platform, shelter limit detection method are compared with traditional laser line scanning, measurement speed
Degree is fast, measurement accuracy is high.It is suitable for continuously being measured during exercise the limit state of invading of platform, shelter.
Claims (6)
1. a kind of track clearance detection method, using a kind of real-time detection apparatus, which includes computer, camera and throwing
Shadow instrument, the camera are used to return the image of shooting, and the computer is used to calculate the three-dimensional coordinate information of measurement, the throwing
For projecting raster image, the camera is connect with computer by USB data line shadow instrument, and the projector and computer are logical
Cross the connection of HDMI connecting line characterized by comprising
The camera is marked in advance using Zhang Zhengyou scaling method, obtains camera parameter, which includes camera internal reference and entire
Projection-camera system external parameter；
Using the location information of the computer, the geographic location data message of platform is transferred, determines current location station and station
Platform title；
During train operation, video image is shot；
According to projection structure optical measurement techniques, solution phase is carried out；
Three-dimensional computations are carried out using solution phase result, generate three-dimensional point cloud；
Z value each in three-dimensional point cloud is compared with limit standard is invaded, judges whether to invade limit；
Wherein, it if invading limit, carries out invading limit alarm, and determine and invade limitation and invade extreme position, if not invading limit, terminates detection.
2. track clearance detection method according to claim 1, it is characterised in that: according to three-dimensional point cloud, real-time exhibition three
Tie up image.
3. track clearance detection method according to claim 1, it is characterised in that: shoot video figure using high speed camera
Picture.
4. track clearance detection method according to claim 1, it is characterised in that: the solution phase uses Fourier's profile
Technology.
5. track clearance detection method according to claim 1, it is characterised in that: proposed using Gai Shaoyan, up to winged roc
Phase-camera coordinates system measurement model calculates three-dimensional coordinate of each pixel of each frame under camera coordinate system, is formed
Three-dimensional point cloud.
6. track clearance detection method according to claim 1, it is characterised in that: invaded by the determination of video odometer technology
Extreme position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910607476.4A CN110398199A (en) | 2019-07-05 | 2019-07-05 | A kind of track clearance detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910607476.4A CN110398199A (en) | 2019-07-05 | 2019-07-05 | A kind of track clearance detection method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110398199A true CN110398199A (en) | 2019-11-01 |
Family
ID=68322787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910607476.4A Pending CN110398199A (en) | 2019-07-05 | 2019-07-05 | A kind of track clearance detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110398199A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111768417A (en) * | 2020-06-23 | 2020-10-13 | 中南大学 | Railway wagon overrun detection method based on monocular vision 3D reconstruction technology |
| CN112113516A (en) * | 2020-08-04 | 2020-12-22 | 内蒙古能建数字信息科技有限公司 | Color raster phase decomposition method |
| CN112678023A (en) * | 2021-01-04 | 2021-04-20 | 天津路安工程咨询有限公司 | Rail transit clearance detection device and detection method |
| CN115014284A (en) * | 2022-07-22 | 2022-09-06 | 中铁桥隧技术有限公司 | Track shape and position monitoring system and method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203310400U (en) * | 2013-06-06 | 2013-11-27 | 中特物流有限公司 | Limit detection system |
| CN107462184A (en) * | 2017-08-15 | 2017-12-12 | 东南大学 | The parameter recalibration method and its equipment of a kind of structured light three-dimensional measurement system |
| WO2018159144A1 (en) * | 2017-03-01 | 2018-09-07 | パナソニックＩｐマネジメント株式会社 | Three-dimensional intrusion detection system and three-dimensional intrusion detection method |
| CN109387156A (en) * | 2017-08-10 | 2019-02-26 | 中铁十局集团有限公司 | A kind of track based on 3 D laser scanning equipment invades limit intelligent detecting instrument |
-
2019
- 2019-07-05 CN CN201910607476.4A patent/CN110398199A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203310400U (en) * | 2013-06-06 | 2013-11-27 | 中特物流有限公司 | Limit detection system |
| WO2018159144A1 (en) * | 2017-03-01 | 2018-09-07 | パナソニックＩｐマネジメント株式会社 | Three-dimensional intrusion detection system and three-dimensional intrusion detection method |
| CN109387156A (en) * | 2017-08-10 | 2019-02-26 | 中铁十局集团有限公司 | A kind of track based on 3 D laser scanning equipment invades limit intelligent detecting instrument |
| CN107462184A (en) * | 2017-08-15 | 2017-12-12 | 东南大学 | The parameter recalibration method and its equipment of a kind of structured light three-dimensional measurement system |
Non-Patent Citations (1)
| Title |
|---|
| 付文龙: "一种新型铁路轨道检测小车的设计与分析", 《中国机械工程》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111768417A (en) * | 2020-06-23 | 2020-10-13 | 中南大学 | Railway wagon overrun detection method based on monocular vision 3D reconstruction technology |
| CN112113516A (en) * | 2020-08-04 | 2020-12-22 | 内蒙古能建数字信息科技有限公司 | Color raster phase decomposition method |
| CN112678023A (en) * | 2021-01-04 | 2021-04-20 | 天津路安工程咨询有限公司 | Rail transit clearance detection device and detection method |
| CN115014284A (en) * | 2022-07-22 | 2022-09-06 | 中铁桥隧技术有限公司 | Track shape and position monitoring system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110398199A (en) | A kind of track clearance detection method | |
| US20200132451A1 (en) | Structural Light Parameter Calibration Device and Method Based on Front-Coating Plane Mirror | |
| US9091536B2 (en) | Method and device for three-dimensional surface detection with a dynamic reference frame | |
| CN103630088B (en) | High accuracy tunnel cross-section detection method based on bidifly light belt and device | |
| CN109764858B (en) | Photogrammetry method and system based on monocular camera | |
| US20150070468A1 (en) | Use of a three-dimensional imager's point cloud data to set the scale for photogrammetry | |
| CN104200086A (en) | Wide-baseline visible light camera pose estimation method | |
| CN108802043B (en) | Tunnel detection device, tunnel detection system and tunnel defect information extraction method | |
| CN104990515A (en) | Three-dimensional shape measurement system and method for large-size object | |
| CN109443214B (en) | Calibration method and device, measurement method and device for structured light three-dimensional vision | |
| US20200124406A1 (en) | Method for referencing a plurality of sensors and associated measuring device | |
| CN110091891B (en) | High-speed train dynamic limit measuring method and device, storage medium and electronic equipment | |
| CN105839505A (en) | Three-dimensional visual detection method and detection device for road surface damage information | |
| CN101629822A (en) | Multi-camera movable photography measuring method in vibration environment | |
| KR101090082B1 (en) | System and method for automatic measuring of the stair dimensions using a single camera and a laser | |
| CN110926373A (en) | Structured light plane calibration method and system under railway foreign matter detection scene | |
| CN110604574A (en) | Human body height measuring method based on video imaging principle | |
| CN111879264A (en) | Flatness measurement and evaluation system based on line structured light | |
| CN114485483A (en) | Multi-camera combined imaging-based ice shape online measurement method and device | |
| CN205711654U (en) | A kind of detection device of the road surface breakage information of three-dimensional visualization | |
| CN112907647B (en) | Three-dimensional space size measurement method based on fixed monocular camera | |
| CN110779451B (en) | Vehicle size measuring device and method based on single camera | |
| CN110044266B (en) | Photogrammetry system based on speckle projection | |
| Berssenbrügge et al. | Characterization of the 3D resolution of topometric sensors based on fringe and speckle pattern projection by a 3D transfer function | |
| CN108662980B (en) | Welding stud position detection device and method based on silhouette technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191101 |