DESIGN OF A NOVEL SINGLE CAMERA VISION SYSTEM FOR BOTH COMPONENT AND BOARD ALIGNMENT IN PICK AND PLACE MACHINES

In this article, a method of the precise shape measurement of dynamic surfaces via a single camera stereo vision system is presented, a cross-curve pattern is painted on the surface of an object, and the intersections of cross-curves which represent the shape of the object are measured by the stereo vision system. The system with a single camera is modeled as a virtual binocular stereo by strong calibration technique. Binocular epipolar rectification is used to make the stereo matching efficient, and principal curves theory is employed to extract curves in images for stereo matching. Under the framework of RANSAC, the curves are interpolated robustly with cubic spline based on moving-least-square (MLS). Experimental results on both static and dynamic deforming surfaces illustrate the effectiveness of the proposed method.

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3D Coordinate Measurement System Using Single Camera and IMU

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.308-310.351 ◽

2011 ◽

Vol 308-310 ◽

pp. 351-355

Author(s):

Syed Ghafoor Shah ◽

Gui Li Xu ◽

Wei Ji Ni ◽

Yong Qiang Ye

Keyword(s):

Inertial Measurement Unit ◽

Vision System ◽

Contact Point ◽

Measurement Unit ◽

Single Camera ◽

Inertial Measurement ◽

Coordinate Measurement ◽

Improve Accuracy ◽

Continuous Scanning ◽

Feature Calculation

This paper proposes a new method for measuring 3D coordinates of a point using a single camera vision system. The contact point is determined by using 3D force sensors. In addition, the force limiting system has also been incorporated to improve accuracy of the results. 3D point is captured when the touching probe senses the force up to certain limit and subsequently recording of that point is initiated. The points being recorded are then processed for the required feature calculation such as distance between planes, angle, radius etc. The IMU (inertial measurement unit) initially estimates the target plane position which enables the whole system to perform the required task quickly. Hence, this system can be used for continuous scanning of any surface.

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The Location of Quadruped Robot with Hand-Fused-Foot Based on Binocular Vision

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.694-697.1925 ◽

2013 ◽

Vol 694-697 ◽

pp. 1925-1930

Author(s):

Xin Jie Wang ◽

Zhi Lin Yang ◽

Jie Liu

Keyword(s):

Image Processing ◽

Binocular Vision ◽

Extraction Method ◽

Vision System ◽

Quadruped Robot ◽

Reference Object ◽

Single Camera ◽

Key Technology ◽

Characteristic Extraction ◽

Binocular Vision System

Robot location is a key technology of quadruped robot with Hand-fused-Foot. The location method based on binocular vision system is studied for quadruped robot with Hand-fused-Foot. After obtaining image by a single camera, the object is segmented by using characteristic extraction method based on color characteristic. Then image processing such as filtering (de-noising) and opening is performed. The object is identified and its centroid coordinate in image is obtained. Location of robot based on environment reference--object coordinate is achieved. Experiments show the effectiveness and the accuracy (within 4cm) of the method.

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