Line-feature-based calibration method of structured light plane parameters for robot hand-eye system

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Line-feature-based calibration method of structured light plane parameters for robot hand-eye system
	Qi, Yuhan; Jing, Fengshui; Tan, Min
刊名	OPTICAL ENGINEERING
	2013-03-01
卷号	52 期号:3
关键词	structured light plane calibration robot hand-eye system monocular structured light vision line-feature equation of stripe line robot's motion constraints
英文摘要	For monocular-structured light vision measurement, it is essential to calibrate the structured light plane parameters in addition to the camera intrinsic parameters. A line-feature-based calibration method of structured light plane parameters for a robot hand-eye system is proposed. Structured light stripes are selected as calibrating primitive elements, and the robot moves from one calibrating position to another with constraint in order that two misaligned stripe lines are generated. The images of stripe lines could then be captured by the camera fixed at the robot's end link. During calibration, the equations of two stripe lines in the camera coordinate system are calculated, and then the structured light plane could be determined. As the robot's motion may affect the effectiveness of calibration, so the robot's motion constraints are analyzed. A calibration experiment and two vision measurement experiments are implemented, and the results reveal that the calibration accuracy can meet the precision requirement of robot thick plate welding. Finally, analysis and discussion are provided to illustrate that the method has a high efficiency fit for industrial in-situ calibration. (C) 2013 Society of Photo-Optical Instrumentation Engineers (SPIE) [DOI: 10.1117/1.OE.52.3.037202]
WOS标题词	Science & Technology ; Physical Sciences
类目[WOS]	Optics
研究领域[WOS]	Optics
关键词[WOS]	SENSOR
收录类别	SCI
语种	英语
WOS记录号	WOS:000318248000040
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/3514]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位	Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Qi, Yuhan,Jing, Fengshui,Tan, Min. Line-feature-based calibration method of structured light plane parameters for robot hand-eye system[J]. OPTICAL ENGINEERING,2013,52(3).
APA	Qi, Yuhan,Jing, Fengshui,&Tan, Min.(2013).Line-feature-based calibration method of structured light plane parameters for robot hand-eye system.OPTICAL ENGINEERING,52(3).
MLA	Qi, Yuhan,et al."Line-feature-based calibration method of structured light plane parameters for robot hand-eye system".OPTICAL ENGINEERING 52.3(2013).