Optimal camera and marker arrangements for an active-vision system

Author

He, X. ; Benhabib, B. ; Smith, K.C. ; Safaee-Rad, R.

Author_Institution

Dept. of Mech. Eng., Toronto Univ., Ont., Canada

fYear

1992

Firstpage

334

Abstract

A new active-vision system for 3-D object recognition in robotic assembly workcells is being developed. In this system, image analysis is simplified by premarking the objects with artificial markers and utilizing a mobile camera to acquire views of the objects prespecified by markers. Hence, the objects are represented by a small set of 2-D perspective projections. In this context, an important problem to be addressed is the determination of the number of markers and their locations on the objects, and of the placement of the mobile camera to guarantee the detection of at least one marker. The authors present a solution to the optimal arrangement of markers and camera location(s), given the objects´ solid models and a set of constraints

Keywords

assembling; computer vision; image recognition; industrial robots; manufacturing computer control; 3-D object recognition; active-vision system; image analysis; mobile camera; object premarking; optimal camera arrangements; optimal marker arrangements; robotic assembly workcells; Cameras; Computer integrated manufacturing; Helium; Image analysis; Laboratories; Mechanical engineering; Object detection; Object recognition; Robot vision systems; Robotic assembly;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1992., IEEE International Conference on

Conference_Location

Chicago, IL

Print_ISBN

0-7803-0720-8

Type

conf

DOI

10.1109/ICSMC.1992.271753

Filename

271753