An effective method for determining the robot position

Author

Tseng, Din-Chang ; Chen, Zen ; Lin, Jenn-Yee

Author_Institution

Inst. of Comput. Eng., Nat. Chiao Tung Univ., Hsin Chu, Taiwan

fYear

1988

fDate

5-9 Jun 1988

Firstpage

76

Lastpage

81

Abstract

A procedure for determining the position of a mobile robot in a 3-D space is presented. A single 2-D image of a cubic object is used to derive the position of the robot relative to this cube. The derivation is based on the information of vanishing points of the 2-D perspective projection of the cube. The coordinates of vanishing points are iteratively modified to satisfy the imposed constraints: (1) the edge length of the cube is known: (2) the adjacent edges of the cube are mutually perpendicular: and (3) the projected lines of all parallel edges of the cube converge to a vanishing point. In the experiments, a robot arm is automatically guided using the proposed method to grasp a cube. The error analysis of the experimental results is also reported

Keywords

error analysis; pattern recognition; position control; robots; 2D images; 3D space; coordinates; cube; edge length; error analysis; iterative method; mobile robot; parallel edges; pattern recognition; robot position; vanishing points; Calibration; Cameras; Image processing; Lenses; Mobile robots; Motion planning; Orbital robotics; Robot kinematics; Robot vision systems; Robotics and automation;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Vision and Pattern Recognition, 1988. Proceedings CVPR '88., Computer Society Conference on

Conference_Location

Ann Arbor, MI

ISSN

1063-6919

Print_ISBN

0-8186-0862-5

Type

conf

DOI

10.1109/CVPR.1988.196217

Filename

196217