High-Speed Optical 3D Measurement Sensor for Industrial Application

3D optical sensors are becoming more and more popular in vision guidance of industrial robots and other industrial automation applications. Although research on high-speed 3D shape measurement (or imaging) has experienced tremendous growth over the past decades, simultaneously achieving high-speed and high-accuracy performance remains a major challenge in industrial practice. This paper presents a new FPGA architecture for the PMP algorithm and designs an high-speed embedded binocular structured light 3D measurement sensor. The sensor mainly contains a DLP projector, two cameras and a Xilinx Zynq-7000 UltraScale which make real-time computation possible. Experiments showed the time consuming of processing a set of 9 ×2 images with a resolution of 2048 ×1536 using the sensor proposed in this paper is 31.47 ms that has a better performance than 255ms on GPU. To the best of our knowledge, this is the first high-speed FPGA-based embedded binocular structured light 3D measurement sensor. This proposed 3D sensor can obtain ultra high quality 3D information in real time, it can be widely applied to robot random pin-picking and other industrial applications.