Wavelet analysis based 3-D vision system for object tracking

In this paper, a laser scanning vision sensor based automatic focusing, positioning and geometric measurement servo mechanism for 3-D objects, such as seams, holes and edges, is presented. In particular, wavelet analysis is used to process the 3-D data obtained from a circular laser scanning sensor for determining the position of object features. The processed information is then feedback to the servo motion control and actuating system for accurate tracking. Based on data collected, objects are 'visualized' in terms of 3-D mesh/contour with their geometric properties. The results show that this mechanism achieves desired tracking accuracy which is validated experimentally on a 3-D vision tracking and measurement platform.