---
_id: '34264'
abstract:
- lang: eng
  text: In industrial x-ray computed tomography (CT), the application of more complex
    scan paths in comparison to the typical circular trajectory (${360}^{\circ}$ rotation
    of the measurement object) can extend the potential of CT. One way to enable such
    3D scan trajectories is to use a 6-degrees-of-freedom (DOF) object manipulator
    system. In our case, a hexapod is mounted on top of the rotary table of a commercial
    CT scanner. This allows for adaptive tilting of the measurement object during
    the scan. For high accuracy, the geometry calibration of such setups is typically
    done using the x-ray projections of a calibrated multi-sphere object. Contrary
    to this, here, we demonstrate a procedure that is based on only a single sphere
    and can therefore experimentally be implemented with low effort. Using the intrinsic
    geometry parameters of the CT device as prior information, the hexapod coordinate
    system with respect to the CT machine coordinate system is determined by means
    of a one-step optimization approach. The resulting parameters are used to calculate
    projection matrices that enable the volume reconstruction for 3D scan trajectories.
    The method is validated using simulated x-ray images and experimental investigations
    including dimensional measurements. For the used setup, geometric measurement
    results for 3D scan trajectories that are calibrated with the presented method
    show in sum increased errors compared to the circular scans. A limited pose accuracy
    of the manipulator system is discussed as a potential cause. The results nevertheless
    indicate that the presented method is generally feasible for dimensional CT measurements
    provided that the pose accuracy is sufficient. The calibration procedure can therefore
    be a low-cost and easier to implement alternative compared to trajectory calibration
    methods based on multi-sphere objects, but with a tendency towards lower measurement
    accuracy. The methodology can in principle be transferred to different setups
    with 6-DOF manipulator systems, e.g. C-arm CT devices with a robot arm.
article_number: '015403'
author:
- first_name: Lorenz
  full_name: Butzhammer, Lorenz
  last_name: Butzhammer
- first_name: Andreas Michael
  full_name: Müller, Andreas Michael
  last_name: Müller
- first_name: Tino
  full_name: Hausotte, Tino
  last_name: Hausotte
citation:
  ama: Butzhammer L, Müller AM, Hausotte T. Calibration of 3D scan trajectories for
    an industrial computed tomography setup with 6-DOF object manipulator system using
    a single sphere. <i>Measurement Science and Technology</i>. 2022;34(1). doi:<a
    href="https://doi.org/10.1088/1361-6501/ac9856">10.1088/1361-6501/ac9856</a>
  apa: Butzhammer, L., Müller, A. M., &#38; Hausotte, T. (2022). Calibration of 3D
    scan trajectories for an industrial computed tomography setup with 6-DOF object
    manipulator system using a single sphere. <i>Measurement Science and Technology</i>,
    <i>34</i>(1), Article 015403. <a href="https://doi.org/10.1088/1361-6501/ac9856">https://doi.org/10.1088/1361-6501/ac9856</a>
  bibtex: '@article{Butzhammer_Müller_Hausotte_2022, title={Calibration of 3D scan
    trajectories for an industrial computed tomography setup with 6-DOF object manipulator
    system using a single sphere}, volume={34}, DOI={<a href="https://doi.org/10.1088/1361-6501/ac9856">10.1088/1361-6501/ac9856</a>},
    number={1015403}, journal={Measurement Science and Technology}, publisher={IOP
    Publishing}, author={Butzhammer, Lorenz and Müller, Andreas Michael and Hausotte,
    Tino}, year={2022} }'
  chicago: Butzhammer, Lorenz, Andreas Michael Müller, and Tino Hausotte. “Calibration
    of 3D Scan Trajectories for an Industrial Computed Tomography Setup with 6-DOF
    Object Manipulator System Using a Single Sphere.” <i>Measurement Science and Technology</i>
    34, no. 1 (2022). <a href="https://doi.org/10.1088/1361-6501/ac9856">https://doi.org/10.1088/1361-6501/ac9856</a>.
  ieee: 'L. Butzhammer, A. M. Müller, and T. Hausotte, “Calibration of 3D scan trajectories
    for an industrial computed tomography setup with 6-DOF object manipulator system
    using a single sphere,” <i>Measurement Science and Technology</i>, vol. 34, no.
    1, Art. no. 015403, 2022, doi: <a href="https://doi.org/10.1088/1361-6501/ac9856">10.1088/1361-6501/ac9856</a>.'
  mla: Butzhammer, Lorenz, et al. “Calibration of 3D Scan Trajectories for an Industrial
    Computed Tomography Setup with 6-DOF Object Manipulator System Using a Single
    Sphere.” <i>Measurement Science and Technology</i>, vol. 34, no. 1, 015403, IOP
    Publishing, 2022, doi:<a href="https://doi.org/10.1088/1361-6501/ac9856">10.1088/1361-6501/ac9856</a>.
  short: L. Butzhammer, A.M. Müller, T. Hausotte, Measurement Science and Technology
    34 (2022).
date_created: 2022-12-07T10:46:14Z
date_updated: 2023-01-13T14:34:31Z
department:
- _id: '630'
doi: 10.1088/1361-6501/ac9856
intvolume: '        34'
issue: '1'
keyword:
- Applied Mathematics
- Instrumentation
- Engineering (miscellaneous)
language:
- iso: eng
main_file_link:
- open_access: '1'
  url: https://iopscience.iop.org/article/10.1088/1361-6501/ac9856
oa: '1'
project:
- _id: '130'
  grant_number: '418701707'
  name: 'TRR 285: TRR 285'
- _id: '133'
  name: 'TRR 285 - C: TRR 285 - Project Area C'
- _id: '149'
  name: 'TRR 285 – C05: TRR 285 - Subproject C05'
publication: Measurement Science and Technology
publication_identifier:
  issn:
  - 0957-0233
  - 1361-6501
publication_status: published
publisher: IOP Publishing
status: public
title: Calibration of 3D scan trajectories for an industrial computed tomography setup
  with 6-DOF object manipulator system using a single sphere
type: journal_article
user_id: '7850'
volume: 34
year: '2022'
...