Servicio de Información Comunitario sobre Investigación y Desarrollo - CORDIS

Scanning system and conformal mapping

A structured light vision system has been designed and integrated with the IRIST demonstrator, in collaboration with RT&M. The lasted upper is scanned at variable intervals along its length and the scanned data is then processed to find the "best line" for each scan. Appropriate filtering is applied in order to smooth each line and the edges identified based on slope data. The filtering comprises smoothing and removal of any outliers or artefacts and then low pass/FIR filtering of the resultant line.

This software was developed in order to provide a method of identifying the extent of the feather line on the roughed upper. This is accomplished by analysing the rate change in the slope data provided by the software over the region of interest. The set of edge pixels {(x,y,z)} from the boundary of the roughed area together with information on the normals to the surface are stored in an ASCII file. The surface normals are required to permit the blast nozzle to approach the {(x,y,z)} co-ordinate at a suitable angle and hence blast at the correct orientation to the lasted upper sole. The ASCII file is subsequently matched with a similar 'sole' map to obtain an optimum fit. The fitted coordinates are then processed using an interpolation algorithm and then converted to positional data from the scanner's plane to a reference frame, to provide suitable {(x,y,z)} and normal data for the robot used to control the blasting head. This will enable the blast nozzle to not only follow the correct tool path but also allow the blasting angle relative to the surface to be controlled. Concepts for matching the roughed area of the lasted upper to individual soles for flat, rounded and side wall-designed shoes have also been developed.

This technique involves the following:
1. Virtually placing a scanned version of the sole onto the scanned upper in approximately the correct position and orientation.
2. Obtain measures of fit: These will include 'balance' measures and goodness of match of the curvatures in the blasting area.
3. Virtually adjust the placement to get a match to an acceptable level.

In order to do this in a reasonable time the scanned data point set will have to be reduced to a minimum, concentrating on the areas where 'fit' is critical. The technique has been satisfactorily tested on a wide range of flat-soled shoes.

Reported by

Herschel Building
United Kingdom
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