DocumentCode
1984258
Title
A vision system for safe robot operation
Author
Yeh, Pen-Shu ; Barash, Steve ; Wysocki, Edward
Author_Institution
Martin Marietta Lab., Baltimore, MD, USA
fYear
1988
fDate
24-29 Apr 1988
Firstpage
1461
Abstract
A robotic vision system capable of detecting intruders and abnormalities in a gantry robot work space has been constructed to ensure the safe operation of the robot. The system uses two CCD video cameras mounted on the frame of the gantry for monitoring the work space and a novel four-point ranging algorithm for determining the relationship between the camera reference frame and the robot base frame. Intruder/abnormality location is found through a triangulation scheme based on features extracted from the two camera images. Without compensating for lens distortion, accuracy achieved for locating intruders is between 1/60 to 1/100 of depth
Keywords
CCD image sensors; alarm systems; computer vision; computerised pattern recognition; robots; CCD video cameras; alarm systems; feature extraction; four-point ranging algorithm; intruder detection robots; triangulation scheme; vision system; Cameras; Layout; Machine vision; Monitoring; Object detection; Orbital robotics; Robot kinematics; Robot sensing systems; Robot vision systems; Space shuttles;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12272
Filename
12272
Link To Document