DocumentCode :
3288953
Title :
Stereo visual image matching in remote welding
Author :
Xi, Qiao ; Dong, Jiao Xiang
Author_Institution :
Mech. & Electr. Eng. Inst., Beijing Univ. of Chem. Technol., Beijing, China
fYear :
2011
fDate :
15-17 April 2011
Firstpage :
3593
Lastpage :
3596
Abstract :
In order to achieve remote welding operation in complicated and dangerous environment and to improve the automation of remote welding robot, remote welding often use stereo visual technique to analysis task space and to do three-dimensional reconstruction for remote welding. Before arc striking, with the assistance of the stereo visual system and through offline programming system or remote teaching, generate robot remote welding task program at first, then manual control to do high-speed macro guide in free motor area and do low-speed positioning guide in limited motor area. And in order to achieve stereo vision task, image feature point matching become one of the most important parts. This paper designs an algorithm of the outer limit constraints fast matching, which based on pixel height difference, and greatly improved the accuracy and timeliness of matching.
Keywords :
image matching; image reconstruction; industrial robots; robot programming; robot vision; solid modelling; stereo image processing; welding; arc striking; high speed macro guide; image feature point matching; low speed positioning guide; motor area; offline programming system; outer limit constraint fast matching; pixel stereo height difference; remote teaching; remote welding operation; remote welding robot automation; robot remote welding task program; stereo vision task; stereo visual image matching; stereo visual technique; three-dimensional reconstruction; Automation; Education; Lasers; Robots; Stereo vision; Visualization; Welding; feature matching; robotic remote welding; stereo vision;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Electric Information and Control Engineering (ICEICE), 2011 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-8036-4
Type :
conf
DOI :
10.1109/ICEICE.2011.5778069
Filename :
5778069
Link To Document :
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