Robot-based image acquisition for dendrochronological analysis of curved wooden surfaces

This paper provides a proof of concept of an automated scanning system for high-resolution images of wooden samples. This includes a 3D digitization for the further path planning of a high-resolution scan by an industrial robot as well as a web-based user interface connected to the robot control via Robot Operating System (ROS).With the use of focus stacking and coherent image stitching, the image processing pipeline delivers a final result image of the wooden samples with a theoretical maximum resolution of 1359 pixels/mm under ideal circumstances. Future work contains the integration and evaluation of additional sensors for better camera alignment to the surface.