A laser-triangulating range camera uses a laser plane to light an object. If the position of the laser relative to the camera as well as certrain properties of the camera is known, it is possible to calculate the coordinates for all points along the profile of the object. If either the object or the camera and laser has a known motion, it is possible to combine several measurements to get a three-dimensional view of the object. Camera calibration is the process of finding the properties of the camera and enough information about the setup so that the desired coordinates can be calculated. Several methods for camera calibration exist, but this thesis proposes a new method that has the advantages that the objects needed are relatively inexpensive and that only objects in the laser plane need to be observed. Each part of the method is given a thorough description. Several mathematical derivations have also been added as appendices for completeness. The proposed method is tested using both synthetic and real data. The results show that the method is suitable even when high accuracy is needed. A few suggestions are also made about how the method can be improved further.

Practical laser triangulation sessions were performed for each measurement object to obtain ground truth data. Three methods for laser line simulations were implemented: reshaping the built-in light sources of Blender, creating a texture projector and approximating a Gaussian beam as a light emitting volume. The camera simulation was based on the default camera of Blender together with settings from the physical camera. Three approaches for creating wood material were tested: procedural texturing, using microscopic image textures to create 3D-material and UV-mapping high resolution photograph onto the geometry. The blister package was simulated with one material for the pills and another for the semi-transparent plastic packaging. A stand-alone Python script was implemented to simulate anisotropic/directed subsurface scattering of a point laser in wood. This algorithm included an approach for creating vector fields that represented subsurface scattering directions. Three post-processing scripts were produced to simulate sensor noise, blurring/blooming of the laser line and lastly to apply simulated speckle patterns to the laser lines. Sensor images were simulated by rendering a laser line projected onto a measurement object. The sensor images were post-processed with the three mentioned scripts. Thousands of sensor images were simulated, with a small displacement of the measurement object between each image. After post-processing, these images were combined to a single scattering image. SICK IVP AB provided the algorithms needed for laser centre extraction as well as for scattering image creation. / <p>Examensarbetet är utfört vid Institutionen för teknik och naturvetenskap (ITN) vid Tekniska fakulteten, Linköpings universitet</p>

Os Medidores de Distância por Triangulação a Laser são sistemas optoeletrônicos destinados à medição de pequenas distâncias ou deslocamentos, sem contato físico direto. Estes equipamentos possuem um grande campo de aplicações industriais. Este trabalho descreve as diversas configurações que este equipamento pode se apresentar, discutindo suas vantagens relativas. São estudadas também as suas partes e os componentes mais indicados. O projeto detalhado de um medidor usando sensor tipo CCD, e apresentado. Algumas aplicações industriais deste modelo são relatadas e diversos métodos e sugestões de uso são apresentadas, com base nas experiências realizadas pelo autor. / Laser Triangulation Rangefinders are non-contact, optoelectronic devices for measurement of small displacements or distances. These devices offer a broad range of industrial applications. This work explains common configurations, parts and main components, comparing their advantages. A detailed project on a CCD based Laser Rangefinder is presented. Some industrial applications for that project are related, discussing practical aspects based on authors experience. Some potential applications are also suggested.

Different wave power technologies are in development around the world in different stages of prototype testing. So far only a few devices have been deployed offshore at full scale for extended periods of time. Little data is published about how these different devices perform. This thesis presents results from experiments with the full-scale offshore wave energy converters at the Lysekil research site on the Swedish west coast. The theories, experiments, measurements, performance evaluations and developments of the submerged transmission in the direct driven permanent magnet linear generator are in focus. The reciprocating submerged transmission fulfills the purpose of transmitting the absorbed mechanical wave energy through the capsule wall into the generator, while preventing the seawater from entering the capsule and reducing the life time of the converter. A measuring system with seven laser triangulation sensors has been developed to measure small relative displacements between piston rod and seal housing in the submerged transmission with excellent accuracy for the purpose of evaluating both functional behavior and successive wear in-situ. A method for calculating relative tilt angles, azimuth angles, differential tilt angles, and successive wear in the submerged transmission has been developed. Additional sensors systems have been installed in the converter enabling correlation and a thorough investigation into the operating conditions of the transmission and the converter. The thesis presents unique results from the measurements. A data acquisition system transmits the signals from the converter on the seabed to an onshore measuring station. Results are presented in time-, frequency- and the time-frequency domain. The results have given important information for further development of the submerged transmission, which is important to the survivability of the system. The thesis describes the status of research, and is a step that may influence future designs of wave energy devices for reaching survivability and a cost-effective renewable energy system. / <p>Published is a preprint version of the full text and should be combined by the errata.</p> / The Lysekil Wave Power Project

Os Medidores de Distância por Triangulação a Laser são sistemas optoeletrônicos destinados à medição de pequenas distâncias ou deslocamentos, sem contato físico direto. Estes equipamentos possuem um grande campo de aplicações industriais. Este trabalho descreve as diversas configurações que este equipamento pode se apresentar, discutindo suas vantagens relativas. São estudadas também as suas partes e os componentes mais indicados. O projeto detalhado de um medidor usando sensor tipo CCD, e apresentado. Algumas aplicações industriais deste modelo são relatadas e diversos métodos e sugestões de uso são apresentadas, com base nas experiências realizadas pelo autor. / Laser Triangulation Rangefinders are non-contact, optoelectronic devices for measurement of small displacements or distances. These devices offer a broad range of industrial applications. This work explains common configurations, parts and main components, comparing their advantages. A detailed project on a CCD based Laser Rangefinder is presented. Some industrial applications for that project are related, discussing practical aspects based on authors experience. Some potential applications are also suggested.

This dissertation elaborates on the novel sensing approach of multi-wavelength laser line profiling (MWLP). It is a novel sensor concept that expands on the well-known and broadly adopted laser line profile sensing concept for triangulation-based range imaging. Thereby, the MWLP concept does not just use one line laser but multiple line lasers at different wavelengths scanned by a single monochrome imager. Moreover, it collects not only the 3D distance values but also reflection intensity and backscattering of the laser lines are evaluated. The system collects spectrally selective image-based data in an active manner. Thus, it can be geared toward an application-specific wavelength configuration by mounting a set of lasers of the required wavelengths. Consequently, with this system image-based 3D range data can be collected along with reflection intensity and backscattering data at multiple, selectable wavelengths using just a single monochrome image sensor. Starting from a basic draft of the idea, the approach was realized in terms of hardware and software design and implementation. The approach was shown to be feasible and the prototype performed well as compared with other state-of-the-art sensor systems. The sensor raw data can be visualized and accessed as overlayed distance images, point clouds or mesh. Further, for selected example applications it was demonstrated that the sensor data gathered by the system can serve as descriptive input for real world agricultural classification problems. The sensor data was classified in a pixel-based manner. This allows very flexible, quick and easy adaptation of the classification toward new field situations.

Für Offshore-Windenergieanlagen (OWEA) wird die Überwachung mittels Monitoringsystemen immer wichtiger für den effizienten Betrieb. Problematisch ist, dass nicht nur die OWEA selbst, sondern auch die Monitoringsysteme altern. Für verlässliche Monitoringsysteme müssen daher auch deren Alterungsprozesse analysiert werden, damit das System lebensdauerumfassend an der OWEA verwendbar ist. Hierfür wurden Laser-Triangulationssensoren untersucht, die unterschiedlichen Temperaturen und Luftfeuchten ausgesetzt wurden. Das Messsignal wurde temperaturkompensiert und hinsichtlich seiner Messunsicherheit bewertet. Ferner ergaben erste Alterungsversuche, dass noch keine signifikanten Alterungserscheinungen aufgetreten sind.