標題: Surface Coordinate Measurement Using Un-calibrated Cameras and Laser Pointer Equipped Robot Manipulator
作者: Hu, Jwu-Sheng
Wang, Jyun-Ji
電機工程學系
Department of Electrical and Computer Engineering
公開日期: 2011
摘要: This paper presents a new method to measure three-dimensional coordinate data, corresponding to any pixel of a camera. The system configuration includes multiple un-calibrated cameras, a laser pointer, and a manipulator. The manipulator can control the orientation and position of the laser pointer, and the laser beam spot on the surface can be observed by each camera. Based on the visual servo algorithm, the proposed method generates different laser lines which the observation of these laser spots matches the desired pixel indices for each camera. The intersection of multiple lines is the measurement of the surface point. The simulation results demonstrate the accuracy of the measurement and test the influence of several parameters. The real experiment for measuring the position of corners in a chessboard is implemented.
URI: http://hdl.handle.net/11536/15129
ISBN: 978-1-4577-0839-8
ISSN: 2159-6255
期刊: 2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)
起始頁: 303
結束頁: 308
顯示於類別:會議論文