Title :
Optimal positioning of robot equipped with camera for stereo vision
Author :
Hsiao, Roger C. ; Choi, Hyeung-Sik
Author_Institution :
Dept. of Mech. Eng., South Carolina Univ., Columbia, SC, USA
Abstract :
The optimal positioning of a robot equipped with a camera is studied to ensure the best triangulation accuracy. Two quantities are derived to measure the triangulation accuracy: the triangulation sensitivity and the triangulation error; both are derived based on the idealized pinhole camera model. By minimizing these measures, the optimum positions of the camera are determined. The position constraints on the camera due to the robot configuration and the working environment are also included in the problem formulation
Keywords :
cameras; computer vision; matrix algebra; robots; idealized pinhole camera model; optimal positioning; position constraints; problem formulation; robot configuration; stereo vision; triangulation accuracy; triangulation error; triangulation sensitivity; working environment; Cameras; Equations; Layout; Machine vision; Manipulators; Mechanical engineering; Robot kinematics; Robot sensing systems; Robot vision systems; Stereo vision;
Conference_Titel :
Southeastcon '89. Proceedings. Energy and Information Technologies in the Southeast., IEEE
Conference_Location :
Columbia, SC
DOI :
10.1109/SECON.1989.132426
