Three-dimensional location estimation of circular features for machine vision

Author

Safaee-Rad, Reza ; Tchoukanov, Ivo ; Smith, Kenneth Carless ; Benhabib, Bensiyon

Author_Institution

Toronto Univ., Ont., Canada

Volume

8

Issue

5

fYear

1992

fDate

10/1/1992 12:00:00 AM

Firstpage

624

Lastpage

640

Abstract

A closed-form analytical solution to the problem of 3D estimation of circular-feature location is presented. Two different cases are considered: 3D orientation and position estimation when the radius is known and when it is not known. Extension of the method to general 3D quadratic features is also addressed. Simulated experimental results obtained for all three cases verified the analytical method. In the case of real experiments, a set of circles located on a calibration plate, whose locations were known with respect to a reference frame, were used for camera calibration as well as for the application of the method. A sequential compensation procedure was applied to the input gray-level image to compensate for distortion. These results also showed the validity of the process and the applicability of the analytical method

Keywords

computer vision; feature extraction; parameter estimation; 3D circular feature location estimation; 3D orientation; 3D quadratic features; camera calibration; gray-level image; machine vision; position estimation; sequential compensation; Analytical models; Calibration; Cameras; Computer vision; Lenses; Machine vision; Manufacturing; Mechanical engineering; Parameter estimation; Robot vision systems;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.163786

Filename

163786