Global vision measurements of object position and orientation with non-coplanar feature points determined by point optimization in camera coordinate system

2016 ◽  
Vol 56 (1) ◽  
pp. 105 ◽  
Author(s):  
Guan Xu ◽  
Anqi Zheng ◽  
Xiaotao Li ◽  
Jian Su
Keyword(s):  
Coordinate System ◽  
Feature Points ◽  
Object Position ◽  
Global Vision ◽  
Position And Orientation ◽  
Camera Coordinate System

System of Telecontrol with Two Manipulators

2015 ◽  
Vol 799-800 ◽  
pp. 1058-1062
Author(s):  
Alexey Katsurin ◽  
Denis Gerasimenko
Keyword(s):  
Vision System ◽  
Computing System ◽  
Object Position ◽  
Control Signals ◽  
Simulation Results ◽  
Position And Orientation

This paper describes the system of telecontrol with two manipulators, that allows to grasp synchronously the object, position and orientation of which is determined by the vision system. The proposed algorithm of the computing system forms the control signals for all drives of manipulators. The simulation results confirm the efficiency of this algorithm and the overall system.

Research on Pose Estimation for Electric Vehicle’s Fast-Swap Battery Box Based on Visual Information

2012 ◽  
Vol 253-255 ◽  
pp. 2252-2257
Author(s):  
Yu Ming Wu ◽  
Shuo Liu ◽  
Gao Yang Zhang ◽  
Xiao Yan Yin ◽  
Ming Yu Zhao ◽  
...  
Keyword(s):  
Coordinate System ◽  
Pose Estimation ◽  
Visual Information ◽  
Experimental Results ◽  
Noise Effects ◽  
Simulation Results ◽  
Camera Coordinate System

For the reason of difficult to get battery box pose information, we research the battery box pose measure method based on visual information. We get the coplanar four points at the lines constraints which extracted form image. We get the pose relationship between the battery box coordinate system and camera coordinate system, and then calculate the average of the measure results to reduce noise effects for measure precision. Simulation results show that the method through calculate average of the measure results can effectively reduce noise effects for measure accuracy. The actual experimental results show that the pose estimate accuracy is meet robot requirements for battery swap.

A Service Robot with Lightweight Arms and a Trinocular Vision Sensor

2010 ◽  
Vol 439-440 ◽  
pp. 396-400
Author(s):  
Xian Hua Li ◽  
Shi Li Tan ◽  
Wu Xin Huang
Keyword(s):  
Control System ◽  
Coordinate System ◽  
Inverse Kinematics ◽  
Robot Control ◽  
Service Robot ◽  
Algebraic Solution ◽  
Vision Sensor ◽  
Solution Methods ◽  
Space Coordinate ◽  
Position And Orientation

This paper describes a household service robot with two lightweight arms and a trinocular vision sensor. According to DH convention, the coordinate system of two arms is established, and position and orientation of the hand is computed. The inverse kinematics of the arm is solved with geometric and algebraic solution methods. By the trinocular vision sensor, robot can recognize the bottle and get its 3-D space coordinate. Through experiments, both correctness of the algorithm and stability of the robot control system are validated.

An Algorithm for Determining the Position and Orientation of 3-D Objects from Images Using Spectral Graph Theory

2015 ◽  
Vol 770 ◽  
pp. 585-591
Author(s):  
Alexey Barinov ◽  
Aleksey Zakharov
Keyword(s):  
Graph Theory ◽  
Adjacency Matrix ◽  
Spectral Decomposition ◽  
Spectral Graph Theory ◽  
Feature Points ◽  
Image Comparison ◽  
Spectral Graph ◽  
Position And Orientation ◽  
Weighted Adjacency Matrix

This paper describes an algorithm for computing the position and orientation of 3-D objects by comparing graphs. The graphs are based on feature points of the image. Comparison is performed by a spectral decomposition with obtaining eigenvectors of weighted adjacency matrix of the graph.

A positioning model of a two CCD camera coordinate system with an alternate-four-matrix look-up table algorithm

2010 ◽  
Vol 48 (12) ◽  
pp. 1193-1199 ◽  
Author(s):  
Chern-Sheng Lin ◽  
Chia-Tse Chen ◽  
Tzu-Chi Wei ◽  
Wei-Lung Chen ◽  
Chia-Chang Chang
Keyword(s):  
Coordinate System ◽  
Ccd Camera ◽  
Look Up Table ◽  
Camera Coordinate System

Computation of Common Normal Between a Wheelset and Straight Rail at Singular Position

2014 ◽  
Author(s):  
Behrooz Fallahi ◽  
Arjun Kumar Perla ◽  
Andrew Behnke
Keyword(s):  
Coordinate System ◽  
Nonlinear Equations ◽  
Newton Method ◽  
Hybrid Procedure ◽  
Bisection Method ◽  
Parametric Equation ◽  
Wheel Surface ◽  
Special Position ◽  
The Common ◽  
Position And Orientation

Computation of common normal between a pair of wheel and rail surface is an important sub problem in railroad simulations. In this study, it is shown that there are special position and orientation of every wheelset that makes the governing equation for computation of the common normal degenerate. This condition leads to divergence of the Newton’s iterate. To develop a procedure that can successfully compute the common normal between a straight rail and a wheelset, first parametric equation for the rail and wheel surface in track coordinate system is developed. Then four nonlinear equations whose solution is location of common normal are constructed. Three of the equations are used to eliminate three unknown in fourth equation. The resulting equation has only one unknown. A hybrid procedure based on Newton method and bisection method is used to solve the roots of the last equation. The utility of this approach is demonstrated by reporting the common normal for a pair of wheel and rail surface at singular position.

Lane Model and Calculation of Lane Geometric Structure and Vehicle Deviation Angle and Position in Lane for Intelligent Vehicle

2013 ◽  
Vol 274 ◽  
pp. 336-339
Author(s):  
Y. Chen ◽  
M.Y. He
Keyword(s):  
Coordinate System ◽  
Geometric Structure ◽  
Intelligent Vehicle ◽  
Reasonable Assumption ◽  
Deviation Angle ◽  
Boundary Equation ◽  
Change Rate ◽  
World Coordinate System ◽  
Crucial Part ◽  
Camera Coordinate System

Lane model, lane geometric structure calculation, and vehicle deviation angle and position calculation is a crucial part in automatic drive of intelligent vehicle. In this paper, we introduce a lane model and calculation equations of lane geometric structure and vehicle deviation angle and position in lane. Firstly, we establish the world coordinate system and derive the lane boundary equation based on the actual lane alignment. Secondly, we derive the lane boundary equation in the camera coordinate system through the coordinate transformation. Then we build up the image coordinate system and the pixel coordinate system and derive the lane projective parameter model. Finally, we derive the calculation equations of lane geometric structure and vehicle deviation angle and position in lane. For we introduce the camera roll angle, the lane curvature change rate, and the reasonable assumption in the derivation, the lane model and the calculation are more general and accurate.

Smooth Path Blending for 5-Axis Machine Tools

2020 ◽  
Author(s):  
Shingo Tajima ◽  
Burak Sencer ◽  
Hayato Yoshioka ◽  
Hidenori Shinno
Keyword(s):  
Coordinate System ◽  
Finite Impulse Response ◽  
Analytical Techniques ◽  
Computationally Efficient ◽  
Spherical Coordinate ◽  
Tool Positioning ◽  
Positioning Errors ◽  
Smooth Path ◽  
Cad Cam ◽  
Position And Orientation

Abstract 5-axis machining is widely used to manufacture complex sculptured parts, such as impellers used in jet engines. In order to machine complex part surfaces, the surface is discretized by a series of short-segmented point to point linear segments by CAD/CAM systems. Smooth non-stop motion of the tool must be interpolated along those discrete tool-paths. This paper proposes novel discrete linear path smoothing algorithms to interpolate tool position and orientation commands synchronously for 5-axis machining. Finite Impulse Response (FIR) filtering based feed profiling technique is developed to generate a smooth tool-pose trajectory with both local and global smoothing functionality. Analytical techniques are proposed to confine the blending errors within user specified tolerances. The proposed technique is computationally efficient and suitable for real-time implementation on modern NC systems. Path blending errors are defined in both the Cartesian workpiece coordinate system for tool positioning errors and the spherical coordinate system for tool orientation errors. Both position and orientation contouring errors are controlled in each coordinate system with respect to the user-defined tolerances. Simulation results validate that the proposed FIR based corner smoothing algorithm can generate smooth and non-stop trajectories for 5-axis machining. It can lead to significant cycle time gain without jeopardizing part tolerances.

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