Title :
Three dimensional object location in the eye-on-hand robot system
Author :
Xu, Zhixiang ; Sun, Wei
Author_Institution :
Dept. of Commun. Eng., Shanghai Univ., China
Abstract :
The algorithm of three dimensional object location for the eye-on-hand robot system is given. Based on the modified DLT algorithm the camera and robot system calibration algorithms are introduced. The parameters of the system calibration are obtained using the pseudo-inverse method. Two images are taken in different positions for the same scene. Based on the calibration parameters two sets of sight line equations are derived for various feature points in the two images. The corresponding points are solved using the least squares method according to the geometry constraints. Error matching can be avoided using the third image taken for the same scene. Finally, the three dimensional locations of object points are obtained accurately
Keywords :
calibration; feature extraction; inverse problems; manipulators; position control; robot vision; stereo image processing; 3D object location; calibration; eye-on-hand robot system; feature extraction; geometry constraints; manipulators; pseudo-inverse method; robot vision; sight line equations; Calibration; Cameras; Charge coupled devices; Charge-coupled image sensors; Equations; Feature extraction; Lenses; Manipulators; Robot kinematics; Robot vision systems;
Conference_Titel :
Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-4053-1
DOI :
10.1109/ICSMC.1997.638127
