DocumentCode :
3180873
Title :
Experiments in 3D measurements by using single camera and accurate motion
Author :
Heimonen, T. ; Hannuksela, J. ; Heikkilä, J. ; Leinonen, J. ; Manninen, M.
Author_Institution :
Unit of Tech. Educ., Kemi-Tornio Polytech., Finland
fYear :
2001
fDate :
2001
Firstpage :
356
Lastpage :
361
Abstract :
A method to capture 3D coordinates of object features is described and preliminary results of our experiments are presented. Our method is based on the utilisation of traditional parallax equations, determination of undistorted image coordinates, and accurately known motion of a CCD-camera. Error sources of the method are described and equations to estimate the effect of these errors on the results of the 3D reconstruction derived. An experimental setup suitable for light assembly application measurements was constructed. The properties of our method were analysed and preliminary 3D reconstruction experiments were performed with the aid of the setup facilities. A relative accuracy of 1:6000 (0.016 mm RMSE) was obtained, when a test object was measured
Keywords :
assembling; feature extraction; image reconstruction; industrial manipulators; motion estimation; robot vision; stereo image processing; 3D coordinate measurement; 3D image reconstruction; CCD-camera; assembly; feature extraction; industrial robots; motion estimation; parallax equations; robot vision; stereo images; Cameras; Equations; Image reconstruction; Image sensors; Parallel robots; Robot kinematics; Robot sensing systems; Robot vision systems; Robotic assembly; Sensor phenomena and characterization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Assembly and Task Planning, 2001, Proceedings of the IEEE International Symposium on
Conference_Location :
Fukuoka
Print_ISBN :
0-7803-7004-X
Type :
conf
DOI :
10.1109/ISATP.2001.929051
Filename :
929051
Link To Document :
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