DocumentCode :
2332656
Title :
Reflected hotspot used in industrial vision
Author :
Trufasu, Aurelian Ovidius ; Comeaga, Constantin Daniel ; Nitu, Constantin
Author_Institution :
Dept. of Mechatron. & Precision Mech., Univ. Politeh. of Bucharest, Bucharest, Romania
fYear :
2009
fDate :
21-23 Sept. 2009
Firstpage :
371
Lastpage :
376
Abstract :
The paper deals with the measuring of a robot displacement, by stereo image matching; images of a hotspot placed onto the robot, generated by LASER reflected radiation are acquired by two CCD cameras; the reflective point is up to designer, in this particular case being the reflective surface of a small ball placed in view field of cameras. The technique to determine the 3D displacement of the robot, using the image matching approach, is presented. Using a pair of stereo images, the coordinates for a set of points belonging to the robot in a reference position are computed in a 3D Cartesian system. The procedure is then repeated for a new position. In order to demonstrate the validity of this technique, some experimental results are also presented.
Keywords :
CCD image sensors; displacement measurement; image matching; mobile robots; stereo image processing; 3D Cartesian system; 3D displacement; CCD cameras; LASER reflected radiation; industrial vision; mobile robot displacement measurement; reference position; reflected hotspot; reflective surface; stereo image matching; Cameras; Charge coupled devices; Charge-coupled image sensors; Displacement measurement; Image matching; Optical design; Particle measurements; Robot kinematics; Robot vision systems; Service robots; CCD cameras; displacement monitoring; mobile robot; stereo image matching;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Optomechatronic Technologies, 2009. ISOT 2009. International Symposium on
Conference_Location :
Istanbul
Print_ISBN :
978-1-4244-4209-6
Electronic_ISBN :
978-1-4244-4210-2
Type :
conf
DOI :
10.1109/ISOT.2009.5326133
Filename :
5326133
Link To Document :
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