Measurement最新文献_第3页

Dynamic object removal and dense mapping for accurate visual SLAM in outdoor environments 室外环境下精确视觉SLAM的动态目标移除和密集映射

IF 5.2 2区工程技术

Measurement Pub Date : 2025-06-15 DOI: 10.1016/j.measurement.2025.118172

Gang Li , Jian Yu , Huilan Huang , Yongheng Zhu , Jinxiang Cai , Hao Luo , Xiaoman Xu , Chen Huang

{"title":"Dynamic object removal and dense mapping for accurate visual SLAM in outdoor environments","authors":"Gang Li , Jian Yu , Huilan Huang , Yongheng Zhu , Jinxiang Cai , Hao Luo , Xiaoman Xu , Chen Huang","doi":"10.1016/j.measurement.2025.118172","DOIUrl":"10.1016/j.measurement.2025.118172","url":null,"abstract":"<div><div>Visual SLAM systems face significant challenges in dynamic outdoor environments due to varying lighting conditions, the prevalence of moving objects, and distant small dynamic targets. To address these issues, we propose a stereo vision-based SLAM framework that integrates dynamic object removal and dense mapping. Potential dynamic features are identified using the moving consistency check module, and actual moving objects are eliminated via the dynamic region judgment module. The stereo camera configuration enables robust depth computation via an embedded stereo matching network, ensuring reliable metric scale estimation for dense mapping in autonomous navigation scenarios. Experimental validation on stereo-compatible datasets (KITTI, EuRoC, VIODE) demonstrates that our stereo vision-based method significantly improves trajectory accuracy in highly dynamic scenes, outperforming state-of-the-art approaches. On the 11 sequences of the KITTI dataset, our approach achieved an 11.16 % improvement in the Absolute Trajectory Error (ATE) metric compared to ORB-SLAM3. In highly dynamic scenes, the improvement in ATE reached as high as 36.40 %. Our method improves localization accuracy by 14.9 %–47.4 % compared to other state-of-the-art methods in ATE under highly dynamic conditions. Additionally, high-quality dense point cloud maps are generated, laying a solid foundation for advanced robotic applications.</div></div>","PeriodicalId":18349,"journal":{"name":"Measurement","volume":"256 ","pages":"Article 118172"},"PeriodicalIF":5.2,"publicationDate":"2025-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144312569","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Automated P-wave arrival picking in microseismic monitoring: Integrating multi-feature clustering and enhanced AIC-STA/LTA 微震监测中p波到达自动拾取：集成多特征聚类和增强AIC-STA/LTA

IF 5.2 2区工程技术

Measurement Pub Date : 2025-06-14 DOI: 10.1016/j.measurement.2025.118143

Liyun Zhou , Pingan Peng , Liguan Wang , He Meng , Zhaohao Wu

{"title":"Automated P-wave arrival picking in microseismic monitoring: Integrating multi-feature clustering and enhanced AIC-STA/LTA","authors":"Liyun Zhou , Pingan Peng , Liguan Wang , He Meng , Zhaohao Wu","doi":"10.1016/j.measurement.2025.118143","DOIUrl":"10.1016/j.measurement.2025.118143","url":null,"abstract":"<div><div>Accurate P-wave arrival time picking remains a major challenge in microseismic event analysis due to variable signal-to-noise ratio (SNR) conditions and complex waveform characteristics. We propose a unified and adaptive framework that effectively handles both. For high-SNR signals, we enhance the AIC-STA/LTA method by introducing a novel sequence segmentation strategy and precise extremum identification. For low-SNR scenarios, we design a robust three-domain feature fusion scheme—combining time-domain short-time energy, cepstral-domain MFCC, and statistical-domain kurtosis—followed by K-means clustering to achieve accurate waveform segmentation. Validation on real engineering datasets shows that our method bridges the SNR disparity with significantly improved picking accuracy. Specifically, it increases the proportion of small-error picks (≤5ms) by 20 % and reduces large-error picks (>20 ms) by 50 %, thereby minimizing manual correction, which is essential for preserving the accuracy of subsequent event location. These advancements greatly reduce human intervention and enhance the reliability and scalability of automated microseismic monitoring systems.</div></div>","PeriodicalId":18349,"journal":{"name":"Measurement","volume":"256 ","pages":"Article 118143"},"PeriodicalIF":5.2,"publicationDate":"2025-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144298074","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Advancing robust human activity recognition via informative mmWave radar characteristics and a lightweight spatio-spectro-temporal network 通过信息丰富的毫米波雷达特性和轻量级的空间-光谱-时间网络推进稳健的人类活动识别

IF 5.2 2区工程技术

Measurement Pub Date : 2025-06-14 DOI: 10.1016/j.measurement.2025.118056

Van Ngoc Dang, Ngoc Chau Hoang, Quoc Cuong Nguyen, Minh Thuy Le

{"title":"Advancing robust human activity recognition via informative mmWave radar characteristics and a lightweight spatio-spectro-temporal network","authors":"Van Ngoc Dang, Ngoc Chau Hoang, Quoc Cuong Nguyen, Minh Thuy Le","doi":"10.1016/j.measurement.2025.118056","DOIUrl":"10.1016/j.measurement.2025.118056","url":null,"abstract":"<div><div>Human activity recognition (HAR) is increasingly important in aiding our daily life, with millimeter-wave (mmWave) radar sensors emerging as a promising noninvasive solution thanks to their excellent spatial and velocity resolution. Although existing radar-based systems have shown strong performance, they primarily focus on micro-Doppler signatures while neglecting angle information, which can hinder practical deployment in real-world scenarios. Moreover, current state-of-the-art recognition models using mmWave radar often require substantial computational resources, making integration into resource-constrained devices challenging. This work proposes an efficient radar-based HAR system that leverages angle and spectro-temporal information from micro-Doppler signatures. Our system utilizes a multi-channel micro-Doppler representation corresponding to the number of virtual antenna receivers as input. Then, a lightweight dilated convolutional network, namely SST-DCN, extracts spatial-aware multi-scale spectro-temporal information through time-frequency dilated convolutions. Experimental results on our real-world dataset demonstrate the superiority of our approach compared to conventional features and other state-of-the-art radar-based HAR systems.</div></div>","PeriodicalId":18349,"journal":{"name":"Measurement","volume":"256 ","pages":"Article 118056"},"PeriodicalIF":5.2,"publicationDate":"2025-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144314050","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An offline parameter estimation method of inverter-fed induction motors at standstill based on two consecutive different voltages injection 基于连续两次不同电压注入的异步逆变电机静止状态离线参数估计方法

IF 5.2 2区工程技术

Measurement Pub Date : 2025-06-14 DOI: 10.1016/j.measurement.2025.118044

Naizhe Diao , Ruizhen Zhang , Xiaoqiang Guo , Ya Sun , Xianrui Sun , Yingwei Zhang , Qixing Gao

{"title":"An offline parameter estimation method of inverter-fed induction motors at standstill based on two consecutive different voltages injection","authors":"Naizhe Diao , Ruizhen Zhang , Xiaoqiang Guo , Ya Sun , Xianrui Sun , Yingwei Zhang , Qixing Gao","doi":"10.1016/j.measurement.2025.118044","DOIUrl":"10.1016/j.measurement.2025.118044","url":null,"abstract":"<div><div>This paper proposes an offline parameter estimation method of inverter-fed induction motors at standstill based on a two consecutive different voltages injection. The estimation method is achieved by recording the instantaneous stator current vector and instantaneous reference voltage vector at the same rotation angle. It possesses following characteristics. Firstly, the instantaneous rotating vector is used to estimate the motor parameters. It is no longer necessary to record the data of the entire cycle, thus reducing the computational and storage burden. Secondly, in order to eliminate the effect of inverter-error-induced deviation between the actual and reference voltage vectors, a method based on two consecutive different voltage injections is proposed. The proposed method replaces the actual voltage with the reference voltage for parameter estimation. Finally, a single-phase signal vector extension method is proposed, which expands the single-phase vector into a rotating vector by constructing an imaginary axis. Thus, the estimation method using the instantaneous rotating vector can also be performed in the single-phase experiment. Therefore, the implementation of the proposed method is easy, since it does not needto detect the actual voltage and store whole-cycle data, and the estimated parameters are accurate because the inverter error is considered. Simulation and experimental results verify the effectiveness of the proposed method.</div></div>","PeriodicalId":18349,"journal":{"name":"Measurement","volume":"256 ","pages":"Article 118044"},"PeriodicalIF":5.2,"publicationDate":"2025-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144306503","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A multi-modal sensing method based on triboelectric nanogenerator and micro thermoelectric generator for reliable grasping of underwater robotic arm 基于摩擦电纳米发电机和微热电发电机的水下机械臂可靠抓取多模态传感方法

IF 5.2 2区工程技术

Measurement Pub Date : 2025-06-14 DOI: 10.1016/j.measurement.2025.118147

Changxin Liu, Peihan Huang, Runhe Chen, Haoxuan Che, Guangyi Xing, Yuncong Wang, Zhenyao Ma, Kailin Lei

{"title":"A multi-modal sensing method based on triboelectric nanogenerator and micro thermoelectric generator for reliable grasping of underwater robotic arm","authors":"Changxin Liu, Peihan Huang, Runhe Chen, Haoxuan Che, Guangyi Xing, Yuncong Wang, Zhenyao Ma, Kailin Lei","doi":"10.1016/j.measurement.2025.118147","DOIUrl":"10.1016/j.measurement.2025.118147","url":null,"abstract":"<div><div>The deep-sea region, inaccessible to human beings, is now accessible through the utilization of underwater robotic arms. Due to the complexity and unpredictability of the underwater environment, the robotic arms operating in such conditions must possess higher grasping capabilities. In this study, a multi-modal sensing method based on triboelectric nanogenerator (TENG) and micro thermoelectric generator (MTEG) for reliable grasping of underwater robotic arm is proposed. A theoretical model for multi-modal cooperative sensing is established. A fluid state sensor prototype based on MTEG and a grasping state sensor prototype based on TENG are fabricated. An experiment system for verifying the performance of fluid state and grasping state sensing is established. And the experiment research is conducted. The experiment outcomes demonstrate that the output voltage of the fluid state sensing unit (FS-SU) correlates distinctly with water flow velocity and direction. Concurrently, a posture feedback control method based on FS-SU enhances the operation precision of the robotic arm. The sum of the output voltages of the grasping state sensing unit (GS-SU) demonstrates a positive correlation with the applied pressure. Within the pressure range of 0–4 N, the correlation coefficient is 2.641, and within the range of 4–13 N, the correlation coefficient is 1.089. The difference in output voltages of the GS-SU effectively reflects the relative sliding state between the robotic claw and the object. This method can effectively enhance the operational accuracy and stability of underwater robotic arms. It provides a solution for the automation and intellectualization of underwater tasks.</div></div>","PeriodicalId":18349,"journal":{"name":"Measurement","volume":"256 ","pages":"Article 118147"},"PeriodicalIF":5.2,"publicationDate":"2025-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144280042","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A multi-scale deformation measurement method for large parabolic antenna surfaces based on shape sensing and ray tracing 基于形状传感和射线追踪的大型抛物面天线曲面多尺度变形测量方法

IF 5.2 2区工程技术

Measurement Pub Date : 2025-06-14 DOI: 10.1016/j.measurement.2025.118036

Zihan Zhang , Qian Ye , Na Wang , Guoxiang Meng

{"title":"A multi-scale deformation measurement method for large parabolic antenna surfaces based on shape sensing and ray tracing","authors":"Zihan Zhang , Qian Ye , Na Wang , Guoxiang Meng","doi":"10.1016/j.measurement.2025.118036","DOIUrl":"10.1016/j.measurement.2025.118036","url":null,"abstract":"<div><div>In the new era, large parabolic antennas are operating at increasingly higher frequencies, with deformations caused by time-varying loads such as temperature and wind receiving significant attention. Existing surface measurement methods struggle to meet the requirements for full-attitude, quasi-real-time, high-accuracy, and high-resolution measurements of large-aperture antennas. To address this challenge, we develop a multi-scale deformation measurement method based on shape sensing and ray tracing in this work. In the proposed method, the inverse finite element method (iFEM) is employed to provide small-scale deformation information of the panels, enabling shape sensing. The ray equations obtained through ray tracing and geometric continuity constraints are used to provide essential large-scale information for surface deformation measurement, specifically the rigid pose information of the panels. Simulation results using the TM-65 m antenna as an example demonstrate that the method can achieve measurement errors below 0.1 mm. Additionally, experiments are conducted on a self-built measurement system, where high-accuracy calibration was achieved using a camera-scanner fusion approach. The experimental results demonstrate that the proposed method achieves a measurement error of about 0.2 mm and a relative error of about 5%. The measurement time in the experimental setup is approximately 30 s, which is 1/20th of that required by the laser scanning method.</div></div>","PeriodicalId":18349,"journal":{"name":"Measurement","volume":"256 ","pages":"Article 118036"},"PeriodicalIF":5.2,"publicationDate":"2025-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144336031","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

AI-IoT assisted wearable bio-impedance sensor for classification of smoking habits on Fagerstrom scale AI-IoT辅助可穿戴生物阻抗传感器，用于Fagerstrom量表吸烟习惯分类

IF 5.2 2区工程技术

Measurement Pub Date : 2025-06-14 DOI: 10.1016/j.measurement.2025.118171

Aruna Mondal , Debeshi Dutta , Soumen Sen , Nripen Chanda , Soumen Mandal

{"title":"AI-IoT assisted wearable bio-impedance sensor for classification of smoking habits on Fagerstrom scale","authors":"Aruna Mondal , Debeshi Dutta , Soumen Sen , Nripen Chanda , Soumen Mandal","doi":"10.1016/j.measurement.2025.118171","DOIUrl":"10.1016/j.measurement.2025.118171","url":null,"abstract":"<div><div>Understanding smoking habits and their dependency is crucial, as it provides valuable insights into an individual’s respiratory health and lung capacity. We report the development of an IoT-enabled wearable that can measure the bio-impedance of the thoracic region of subjects, transmit the measurements to a remote server using message query telemetry transport (MQTT) protocol, and classify the smoking habits on Fagerstrom scale employing machine learning (ML). The bio-impedance data was collected from 341 smokers post which the dataset underwent calibration, filtering, and feature extraction. The feature-extracted data was labelled using Fagerstrom scale, the scores being calculated using a standard questionnaire. The extracted features were used to train k-nearest neighbour (kNN), random forests (RF), and support vector machine (SVM) classifiers in Python 3.5, using stratified k-fold cross validation. The SVM achieved highest classification accuracy of 97%, followed by RF (96%) and kNN (93%) on Fagerstrom scale with scores ranging between 0–10 highlighting the wearable’s ability to accurately classify smoking dependency, offering a reliable tool for comprehensive respiratory health monitoring. The feature importance results revealed cell membrane capacitance, heterogeneity of tissue and age were most significant features, establishing their importance in lung damage due to smoking. Higher respiratory rates for heavy smokers as compared to light smokers on Fagerstrom scale further established strong dependence of behavioural aspect of smoking habit with lung damage and lung capacity. A key application of this wearable lies in the health insurance sector, where accurate assessment of smoking habits is critical for determining insurance premiums.</div></div>","PeriodicalId":18349,"journal":{"name":"Measurement","volume":"256 ","pages":"Article 118171"},"PeriodicalIF":5.2,"publicationDate":"2025-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144298078","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

TEGDNet: Texture Enhancement Guided Detection Network for spiral welded pipeline defect detection 用于螺旋焊管缺陷检测的织构增强导向检测网络

IF 5.2 2区工程技术

Measurement Pub Date : 2025-06-14 DOI: 10.1016/j.measurement.2025.118052

Yu Zhang , Kechen Song , Wenqi Cui , Yunhui Yan , Guotong Lv , Yanning Zhang

{"title":"TEGDNet: Texture Enhancement Guided Detection Network for spiral welded pipeline defect detection","authors":"Yu Zhang , Kechen Song , Wenqi Cui , Yunhui Yan , Guotong Lv , Yanning Zhang","doi":"10.1016/j.measurement.2025.118052","DOIUrl":"10.1016/j.measurement.2025.118052","url":null,"abstract":"<div><div>Spiral welded pipelines play a crucial role in the transportation industry. However, defects in the pipeline welds pose significant safety hazards, and their detection is challenging. Current detection methods are highly subjective, labor-intensive, and prone to missed or overlooked defects without sufficient texture information. Therefore, we propose a solution to address these challenges. Firstly, we construct a dataset of spiral welded pipeline weld defects (NEU-WELD-2000). Furthermore, we propose a texture enhancement guided detection network (TEGDNet) to detect defects with insufficient texture information, such as weak textures, strong interference, scale variation, and tiny targets. TEGDNet includes an encoder structure for feature extraction and enhancement and a decoder structure based on super-resolution reconstruction. Experiments have demonstrated that our method achieves excellent detection results with fewer than 4M parameters, while mAP<sub>50</sub> improves by 3.2%, and mAP<sub>75</sub>, which is typically harder to improve, increases by 1.2% compared to the baseline. Additionally, we validate the effectiveness of each module through ablation experiments. Finally, the proposed detection method shows great potential in actual pipeline weld detection, significantly saving time and costs for operators through visualization software. The source code and the dataset are publicly available at <span><span>https://github.com/VDT-2048/TEGDNet</span><svg><path></path></svg></span>.</div></div>","PeriodicalId":18349,"journal":{"name":"Measurement","volume":"256 ","pages":"Article 118052"},"PeriodicalIF":5.2,"publicationDate":"2025-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144312571","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Strategic measurement reduction in concrete ultrasonic transmission tomography 混凝土超声透射层析成像的策略测量减少

IF 5.2 2区工程技术

Measurement Pub Date : 2025-06-14 DOI: 10.1016/j.measurement.2025.118170

Lara Guizi Anoni , Vladimir Guilherme Haach , Lev Khazanovich

{"title":"Strategic measurement reduction in concrete ultrasonic transmission tomography","authors":"Lara Guizi Anoni , Vladimir Guilherme Haach , Lev Khazanovich","doi":"10.1016/j.measurement.2025.118170","DOIUrl":"10.1016/j.measurement.2025.118170","url":null,"abstract":"<div><div>Non-destructive testing has become increasingly important in the civil engineering industry as a means to extend the lifespan of buildings through appropriate maintenance actions. Among these tests, ultrasonic tomography stands out as an effective method for accurately assessing the internal state of concrete elements. However, the challenge lies in the large number of measurements required for image reconstruction. This study proposes three distinct analyses to better understand the relationship between the number of measurements and the quality of ultrasonic transmission tomography, with a focus on minimizing the required measurements. Two methods were developed for the strategic reduction of measurements, utilizing the ICC metric and IDW interpolation. Numerical simulations were conducted on three models with different inclusion configurations, and an experimental model was used for validation. The findings suggest that a higher number of measurements does not necessarily result in higher quality images. Instead, strategic measurement reduction demonstrated that there is an optimal configuration that achieves high-quality images with a minimal number of measurements. This study offers valuable insights for practical applications in ultrasonic transmission tomography, potentially increasing its feasibility on a larger scale.</div></div>","PeriodicalId":18349,"journal":{"name":"Measurement","volume":"256 ","pages":"Article 118170"},"PeriodicalIF":5.2,"publicationDate":"2025-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144298073","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Specular surfaces 3D measurement method based on the fusion of mono-phase measuring deflectometry and active tactile detection 基于相位测量偏转法和主动触觉检测相融合的镜面三维测量方法

IF 5.2 2区工程技术

Measurement Pub Date : 2025-06-14 DOI: 10.1016/j.measurement.2025.118174

Huiran Hu, Aiguo Song

{"title":"Specular surfaces 3D measurement method based on the fusion of mono-phase measuring deflectometry and active tactile detection","authors":"Huiran Hu, Aiguo Song","doi":"10.1016/j.measurement.2025.118174","DOIUrl":"10.1016/j.measurement.2025.118174","url":null,"abstract":"<div><div>Specular surfaces present significant challenges for traditional 3D vision measurement techniques due to their strictly reflective properties. This paper proposes an innovative 3D reconstruction method for specular surfaces that combines monocular phase measuring deflectometry with robot active tactile detection. Mono-PMD captures surface gradient data through phase-shift patterns, while tactile sensors provide sparse, precise absolute height information. By fusing these data sources, the proposed method addresses PMD’s gradient-height ambiguity and the limited data density of tactile sensing, achieving accurate reconstruction of specular surfaces. Experimental results show that this method reduces RMS error by 34.6 % compared to the conventional PMD methods, achieving RMS errors as low as 0.0084 mm after radius fitting on concave and convex mirrors with radii of 100 mm and 200 mm. This fusion approach effectively eliminates the need for imaging agents, streamlining measurement processes, and enabling faster, more precise 3D reconstruction and positioning. The proposed method offers robust technical support for future interactions between robotic systems and high-reflective specular objects.</div></div>","PeriodicalId":18349,"journal":{"name":"Measurement","volume":"256 ","pages":"Article 118174"},"PeriodicalIF":5.2,"publicationDate":"2025-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144298076","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0