New Industrial – Scorpion 3D Stinger Scanner

The Scorpion 3D Stinger™ Scanner is an industrial camera designed to be used in cutting-edge 3D Machine Vision applications. It provides cost effective way to provide 3D and 2D images on from a running conveyor, scanning objects for 3D bin picking or to scanning parts for surface verification. Supporting scan rates up to 3500 frame per seconds.


Read more : PD-2011-0002-E Scorpion 3D Stinger Camera.pdf

The Scorpion Stinger SMARTcard provides to synchronize the 3D Scanner directly to the encoder signal from a conveyor. Capture one 3D images with a laser projection and then capturing synchronized companion 2D image set color or monochrome.

The components are selected with the highest quality. The unit’s design will save man-hours when creating and deploying 3D Machine Vision Solutions. The unit, with a nominal weight of 3.5 kg, can be mounted on a robot or above a conveyor.

Multiple scanners can be mounted together to provide two-sided scanning for thickness verification and to scan a wide area with resolutions from 0.01 mm.

The unit is designed to be used in 3D Robot Vision, 3D Laser Triangulation, 3D Gauging, 3D Assembly Verification and other advanced Machine Vision Solutions.

Video – Excellence in 3D Stereo Vision

scorpionxii-64x64Tordivel is a global provider of 2D and 3D Scorpion Stinger technology providing the best solutions for OEMs and Automation System Integrators based on the proven Scorpion Vision Software framework.

Check out this video from Vision-2016 in Stuttgart

“Excellence in 3D stereo vision,” serves as the company’s slogan, so Vollset began by showcasing the Scorpion 3D Stinger compact camera, which has a field of view of 20 x 20 x 20 mm and a resolution of 0.002 mm (2 µm). The camera also has a 200 mm baseline, 1-2 mm depth resolution, and a working range from 750 – 5000 mm. Additionally, the company launched Scorpion 3D Stinger for Robot Vision 2.0, which is based on the new 3D Stinger cameras and upcoming Scorpion 12 software.

Scorpion 3D Stinger cameras are unique in that they are customized for every customer, so the angle, working distance, the optics, and the laser set up are adapted specifically for customer need.

Visit us at Aluminium-2016 – 29.11-1.12

Visit us a Aluminium-2016 in Dusseldorf  where will present our new Scorpion 3D Stinger for the Aluminium Industry.


Scorpion 3D Stinger for Alumium Industry

Read more about Scorpion 3D Stinger for Stub Measurement

Dusseldorf 29. november to 1. december 2016

Scorpion 3D Stinger for the Aluminium Industry

Scorpion 3D Stinger for the Aluminium Industry is a proven, complete, cost effective and expandable platform for robust measurement, classification and tracking in Rodding Shops. The system consists of these application:

  • Scorpion 3D Stinger for Stub Measurement
  • Stinger 3D Stinger for Butt Measurement
  • Scorpion Stinger ID Reading

Tordivel has worked in the Aluminium Industry since 2004 and has an extensive set of reference systems with leading smelters around the world.

Tordivel AS cooperates with machine builders with experience with the aluminium industry and all technical details are based on Tordivel’s standard product is subject to change due to a continous improvement process.

Scorpion Vision XII – SMARTscript is Dynamic Configuration

scorpionxii-64x64In this post we describe another important element in the Scorpion Vision framework were we want to explain that

 Python SMARTscript is Dynamic Configuration

Scripting supplements the ease of point & click configuration to develop more accurate, robust and smarter 2D and 3D machine vision solutions.

This example, SDP-0147 DynamicResultPythonScript, uses an image of three valves. The image is from an old and simple 2D robot vision solution. The example is made to be an inspiration for Scorpion Vision developers.


Image of three valves

The example shows how a simple script can do the following operations:

  • PreCornerFilter image using  the STC-0011-ImageFilter
  • FindCornerCandidates using the Blob4 tool
  • Display the filter image using a color palette.
  • Cluster the candidates using a smart python script
  • Display the clusters and the results using the STC-0013-DisplayResult
  • Create the ClusterArea for each Cluster – STC-0100-PolygonCreator2D
  • Display the ClusterArea

The updated PythonScript tool support dynamic results – the cluster results is shown

This is the 4th post in series of Scorpion Vision Software important tool improvements included in upcoming – Scorpion Vision XII.

Python makes Scorpion an Open Flexible Development Platform

Python is an integral part of Scorpion Vision Software. It makes Scorpion Vision an open, extendable and flexible development platform for the most advanced machine vision solutions.

Easy to import major Open-Source libraries like OpenCV 3, Numpy and SciPy.


The Zen of Python (PEP 20), which includes aphorisms such as:[45]

  • Beautiful is better than ugly
  • Explicit is better than implicit
  • Simple is better than complex
  • Complex is better than complicated
  • Readability counts

PreCornerFilter image using  the STC-0011-ImageFilter

The ImageFilter Scorpion Tool Component is very useful. The filter string does the following:

  • m3 – median filter image block size 3
  • p11,0.0005 – precornerfilter image with size 11 and scale 0.0005
  • X normalises the image

The filter string to precorner filter an image

The image below shows the input image and the filtered image with a color palette.


FindCornerCandidates using the Blob4 tool

The Blob4 tool locates the strongest peaks from the precorner filter to find corner candidates


New option to sort Blob4 result by intensity value

Cluster the candidates using a Smart Script

The core clustering uses a KDTree from Scipy to cluster all corner candidates. The script locates the largest cluster – removes repeatably the candidates in the largest cluster MaxIterations times and clusters again.


The clustering is fast – typical 1 ms

Display the clusters and the results using the STC-0013-DisplayResult

The DisplayResult displays the cluster string C1=(3,(315.7,334.2),11) in the image.


The STC support %1i tool indexing that extract the index from the toolname Cluster1

Create the ClusterArea for each Cluster – STC-0100-PolygonCreator2D

The polygon creator uses the result from ClusterScript to create a polygon describing the cluser area.


Display the ClusterArea


The Cluster Area shown – inside the Blob visualises all the corner candidates

Scorpion Tools in Action

The following Scorpion Tools and STCs, Scorpion Tool Components, are used in the demo profile SDP-0147 DynamicResultPythonScript –

  • PreCornerFilter – STC-0011-ImageFilter
  • FindCornerCandidates – Tool 87 – Blob4
  • ClusterScript – Tool 3 – PythonScript
  • ClusterN – STC-0013-DisplayResult
  • CircleN – STC-0100-PolygonCreator2D

The complete ClusterScript that defines the datamodel and performs clustering using the Spatial module in SciPy

Calibrator2D – Automatic UltraWide angle lens calibration

scorpionxii-64x64This post is the first in series of Scorpion Vision Software tool improvements included in upcoming – Scorpion Vision XII.

Working with 3D Stereo Vision we have learned that completely removing lens distortion is extremely important – this require the best sub-pixel grid location algorithms. In 3D Robot Vision significant value is added by moving closer using wideangle lenses.

We also use this capability to make high precision 3D Stereo Vision system for our OEM customer using low cost lenses and cameras in the smallest form-factor.


Calibration Grid with Ultra Wide Lens

We are proud to state that we have added “Auto Grid Detection” that starts in the center of the images and locates all points that is located with proper quality. This means that Calibrator2D will use all visible grid points that are visible in the image – this will ensure almost 100 % coverage of the image.


Calibrator 2D – Auto Grid Settings

The Calibrator2D.Setup page shows the user feedback after calibrating this image. We see that only the corners are left uncalibrated – where the lens more or less sees to infinity 🙂

The average error is subpixel 1/5th of pixel. The maximum correction of a pixel is 48.9 pixels – the pixel size is 0.9 mm equal to 45 mm.


News – 3D Stinger creates 3D Images in real-time for Robot Vision

Scorpion 3D Stinger Laser Camera

Scorpion 3D Stinger Laser Camera


The new Scorpion 3D Stinger RPP Laser Camera is  based on the principle “projected texture stereo vision” to create a high quality dense point cloud.  The 3D camera works on moving objects with or without texture.

“We are proud to present this exciting new option in the third generation Scorpion 3D Stinger Camera first introduced in 2011.  We have perfected the unit by adding advanced integrated laser and led control. The advanced control allows us to capture both 3D images and 2D images within a compact and robust unit.  An important advantage is the unique ability to measure 3D in the 2D images using high precision 3D references. The  unit extends the complete Scorpion Compact Vision product range that provides state-of-art PC based machine vision with low deployment cost.” – Thor Vollset – Founder and CEO of Tordivel AS

Application areas:

Robotics, 3D robot vision, logistics, empty verification, assembly verification, measurement, R&D and more. 

Scorpion 3D Stinger Camera:

The Scorpion 3D Stinger Camera is designed to be used in cutting-edge 3D Stereo Vision applications with or without structured light. It is built with only the highest quality components to be used in professional machine vision with 24-7  operation. It is compatible with the latest 3D versions of Scorpion Vision Software and locates moving objects in 3D in real-time.

Read more about Scorpion 3D Stinger 


The Scorpion 3D Stinger™ RPP Laser Camera consists of:

  • IP-64 aluminium enclosure – typical 3.5 kg
    • to be mounted above the object or mounted on the robot
    • Black Anodized Aluminium
    • Size: L=292 mm x D=266 mm x H=100  mm
  • Two XCG GigE Cameras from Sony with lenses with resolution from VGA to 5MP
    • Baseline of 200 mm – allows camera tilting to handle multiple operation distances
  • High power white or Infrared strobed LED
  • IR – 830 nm and Red – 660 nm Random Pattern Projection laser from Osela.
  • Termination panel & cables
  • Scorpion Stinger Control Card to driver LED and Laser and to control the image capture an strobing sequence
  • 24v input, 5v and 12v output – Power consumption from 15 to 35 W
  • Working Distances from 400 – 5000 mm
  • GigE switch

The control card provides the ability to capture one 3D image set illuminated with a laser pattern and then capturing a high resolution 2D image set.  The 3D images are used to locate objects in 3D. In the 2D image, the 3D references from the 3D image is used to do 3D measurements in 2D images with the highest possible accuracy.

Read more in the Scorpion 3D Stinger Camera datasheet

Principle of operation:

The new camera is based on the third generation Scorpion 3D Stinger Camera where support for multiple LED and Laser Source are controlled by the Scorpion 3D Stinger Control Card. The goal of the project was to develope a high precision and robust  3D Image or dense point cloud systems with an active Random Pattern Projection to be able to work with all surfaces. We uses two 3D Stereo Vision Camera and a Random Pattern Projection Laser to create a high quality dense point cloud.

The input:

  • A 3D image set with projected texture from a RPP laser
  • A 2D image set illuminated by high power LED
Scorpion 3D Stinger RPP Laser Principle

Scorpion 3D Stinger RPP Laser Principle

The result:

  • A dense 3D point cloud
  • A 3D height map

Supporting universities, students and colleges

We supports student doing their machine vision and robot vision projects and universities that are in the process of building labs for 3D Robot Vision or 3D machine vision. We can tailor sw and hw packages to any need both for reasearch and professional use.

Video – Scorpion Retro Robot Vision

This promotional video was created more than ten years ago – it is still fun to watch.

It is uploaded as reference of the first Scorpion 2D Robot Vision applications deployed from 2000 to 2002. These applications have been running in many years and some of the application are still alive and some have been retrofitted to increase the flexibility and performance.

We can still support all these systems with our 100% backward compatible software.