Proceedings ArticleDOI
Fast And Versatile Range Data Acquisition In A Robot Work Cell
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TLDR
A depth-eye-in-hand configuration, in which the camera is mounted on the robot's hand while one or more projectors are installed rigidly with respect to the robot’s base, for the flexible integration of a range sensor into a robot work cell.Abstract:
The paper presents a new concept for the flexible integration of a range sensor into a robot work cell. The sensor itself is based on the Coded Light Approach, which is well- known as a fast and robust active triangulation technique. We propose a depth-eye-in-hand configuration, in which the camera is mounted on the robot's hand while one or more projectors are installed rigidly with respect to the robot's base. The initial calibration of the involved system components is discussed in detail. In addition to this, since the configuration of the optical components changes with the movement of the robot, a fast re- calibration of the optical setup as well as an efficient realization of the triangulation is presented. Detailed experimental results reveal the speed of the range data acquisition as well as the accuracy of the calculated range values.read more
Citations
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Journal ArticleDOI
Accurate 3D measurement using a structured light system
Robert Valkenburg,Alan M. McIvor +1 more
TL;DR: Experimental evaluation shows that it is important to use substripe estimation and incorporate lens distortion in the projector model, as a complement to subpixel estimators used for locating image features.
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Three-dimensional imaging based on Gray-code light projection: characterization of the measuring algorithm and development of a measuring system for industrial applications
TL;DR: A three-dimensional (3-D) imaging system based on Gray-code projection is described; it is thought to be used as an integration to the already developed profilometer based on the projection of multifrequency gratings.
Journal ArticleDOI
Simultaneous calibration of a robot and a hand-mounted camera
TL;DR: A procedure is developed for simultaneous calibration of a robot and a monocular camera, which solves for the kinematic parameters of the robot and camera in one stage, thus eliminating error propagation and improving noise sensitivity.
Journal ArticleDOI
A comparison of local surface geometry estimation methods
Alan M. McIvor,Robert Valkenburg +1 more
TL;DR: The nonlinear quadric fitting method considered was found to perform the best but has the greatest computational cost while the facet based approach works as well as the other quadricfitting methods and has a much smaller computational cost.
Proceedings ArticleDOI
Planning of regrasp operations
TL;DR: The paper presents a novel approach to solve the regrasp problem for robots equipped with parallel-jaw end-effecters by first evaluates the object's possible grasps and placements and combines them to form grasp-placement-grasp triples.
References
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Journal ArticleDOI
A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses
TL;DR: In this paper, a two-stage technique for 3D camera calibration using TV cameras and lenses is described, aimed at efficient computation of camera external position and orientation relative to object reference coordinate system as well as the effective focal length, radial lens distortion, and image scanning parameters.
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A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses
TL;DR: A new technique for three-dimensional camera calibration for machine vision metrology using off-the-shelf TV cameras and lenses using two-stage technique has advantage in terms of accuracy, speed, and versatility over existing state of the art.
Journal ArticleDOI
A new technique for fully autonomous and efficient 3D robotics hand/eye calibration
Roger Y. Tsai,R.K. Lenz +1 more
TL;DR: In this article, the authors describe a technique for computing position and orientation of a camera relative to the last joint of a robot manipulator in an eye-on-hand configuration, which takes only about 100+64N arithmetic operations to compute the hand/eye relationship after the robot finishes the movement, and incurs only additional 64 arithmetic operations for each additional station.
Proceedings Article
A new technique for fully autonomous and efficient 3D robotics hand-eye calibration
Roger Y. Tsai,R.K. Lenz +1 more
TL;DR: A novel technique for computing position and orientation of a camera relative to the last joint of a robot manipulator in an eye-on-hand configuration aimed at simplicity, efficiency, and accuracy while giving ample geometric and algebraic insights is described.