Method and device for estimating volume in which powdery material is non-uniformly laid

Abstract

Disclosed are a method and device for estimating the volume in which a powdery material is non-uniformly laid. The method for estimating the volume of non-uniform arrangement comprises the steps of: acquiring scan data for the entire target area from at least one initial scan position, which is determined on the basis of the size of the target area and the field of view (FOV) of a camera that is scanning the target region; merging scan data acquired at a position moved from the at least one initial scan position by means of a three-dimensional gantry robot; generating modified scan data by removing scan points on the edges from scan points included in the merged scan data; determining an initial position of non-uniform arrangement in the target area, through a planar model determined on the basis of distances between scan points included in the modified scan data; redetermining the position to be scanned by the camera, by clustering outliers identified at the initial position of non-uniform arrangement; and determining a final position of non-uniform arrangement, by using scan data at the redetermined scan position of the camera, and estimating the volume of non-uniform arrangement at a position determined to be the final position of non-uniform arrangement.

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