Figure 3 - uploaded by Defeng Wu
Content may be subject to copyright.
Source publication
This paper presents a system for object digitalization by use of a laser stripe triangulation displacement sensor and an industrial MOTOMAN robot. In order to ensure the precision of the scanning system, a novel calibration scheme referred to as one-stage approach is proposed. This procedure mainly utilizes a circular-marked board as calibration ta...
Context in source publication
Context 1
... to hand-eye calibration, the derivation of AX=ZB is illustrated in Figure 3. The world frame {W} relative to the robot base Frame{R} is denoted by Z. Similarly, the range finder frame {S} relative to robot hand frame, the world frame relative to the range finder frame and the robot hand frame relative to robot base frame are denoted by X, A and C, respectively. ...
Similar publications
In this paper, we present an innovative approach coupling active contours with an ontological representation of knowledge, in order to understand scenes acquired by a moving camera and containing multiple non-rigid objects evolving over space and time. The developed active contours enable both segmentation and tracking of multiple targets in each c...
Video surveillance systems are commonly used as important sources of quantitative information but from the acquired images it is possible to obtain a large amount of metric information. Yet, different methodological issues must be considered in order to perform accurate measurements using images. The most important one is the camera calibration, wh...
Unmanned aerial vehicles (UAVs) equipped with multispectral digital cameras are very effective in spectral information obtainment. In order to check the radiometric response of the multispectral digital camera and provide better target’s spectral dynamics investigation, the used camera must be carefully calibrated in laboratory and field conditions...
In this work an automated traffic analysis in aerial image sequences recorded by an unmanned aerial vehicle (UAV) has been developed, which provides the trajectories of the vehicles especially during overtaking. Methods of photogrammetry and image processing are used to detect the vehicles and to determine and track their positions. Camera calibrat...
Coded targets are physical optical markers that can be easily identified in an image. Their detection is a critical step in the process of camera calibration. A wide range of coded targets was developed to date. The targets differ in their decoding algorithms. The main limitation of the existing methods is low robustness to new backgrounds and illu...
Citations
... To serve a human being, it is necessary to develop an active auditory perception system for the robot system that can execute various tasks in everyday environments under the natural human speech. Moreover, to adapt to more complicated and varied environments, the robot is equipped with more and more sensors, and in order to unify the coordinates of them, calibration is indispensable , e.g. the typical hand-eye calibration (Li et al., 2009). More importantly, the robot needs to be operated at a high speed with stability. ...
This paper introduces a mobile humanoid robot platform which is able to understand humans' speech commands in their everyday environments. For service in more complicated and varied environments, the robot must operate efficiently under active auditory perception system to ensure a coordinated human-robot system. We enhance the efficiency of the control system by developing a speech commands scheme, and integrate it into the teleoperation. In order to eliminate the time delay in the communication channel, we incorporate and modify the event-based motion control into the robot. It drives the system to achieve the best possible motion.
... A hand-eye configuration refers to the setup in which a camera is rigidly mounted on the hand of a robot manipulator. This configuration has been found many applications in industrial field such as electronic assembly line (Zhuang, 1998), welding guidance (Chen et al., 2006) and robot-based measurement (Li et al., 2009). In order to use a hand-mounted camera for guiding a robot to execute a task, the hand-eye calibration must be done in advance. ...
Two solutions of the homogeneous matrix equation AX=ZB, that allows a simultaneous computation of the transformations from robot world to robot base and from robot tool to robot wrist coordinate frames, are proposed. The presented methods introduce the Kronecker product and dual quaternions to solve the rotations and translations problem, simultaneously, with no propagation error. The experimental results in a simulated and a real environment are reported and analyzed.
