3D Assembly Group Analysis for Cognitive Automation

Table 1

Requested attribute for assembly group analysis	Available for the 3D time-of-flight method	Available for triangulating color images
Depth image and color image available	Only depth information available	Both supported
High accuracy of the depth image	About 1 cm	Depends on resolution and calibration accuracy; recently ca. 1 mm
Depth image independent of the surface	Depends on light-reflecting coefficient	Fails in region with structured surfaces
Mapping between color and depth image	Not available	Available for each camera
High resolution of the depth image	Up to 320×240 Pixels	Equals the number of identified landmarks
Dependency on ambient light	Independent	Fails if scene is under/overexposed