RGR-3D: simple, cheap detection of 6-DOF pose for teleoperation, and robot programming and calibration

Author

Armstrong, Brian ; Verron, Thomas ; Heppe, Lee ; Reynolds, Jim ; Schmidt, Karl

Author_Institution

Dept. of Electr. Eng., Wisconsin Univ., Milwaukee, WI, USA

Volume

3

fYear

2002

fDate

2002

Firstpage

2938

Lastpage

2943

Abstract

It is a remarkable challenge to know the pose of an object in all six dimensions of X, Y, Z and pitch, roll and yaw. Conventional measurement (metrology) systems include: mechanical metrology systems; stereo optical systems, particularly with active LED beacons; and laser interferometry systems. In this paper a simple, low-cost method for determining pose in space is presented. The method is based on interpreting moire patterns generated by a passive target and acquired with a conventional digital camera. Experiments carried out on a Fanuc S-10 robot are reported

Keywords

calibration; computer vision; moire fringes; motion estimation; photogrammetry; robot programming; stereo image processing; telerobotics; RGR-3D; active LED beacons; image processing; industrial robot; laser interferometry; moire patterns; photogrammetry; pose estimation; retrograte reflector; robot calibration; stereo vision systems; teleoperation; Calibration; Cameras; Charge coupled devices; Image analysis; Metrology; Mobile robots; Optical distortion; Optical interferometry; Orbital robotics; Robot programming;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Conference_Location

Washington, DC

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013678

Filename

1013678