Monocular vision calibration method of the stereo target for robot pose measurement

2017 ◽  
Vol 46 (11) ◽  
pp. 1117005
Author(s):  
张旭 Zhang Xu ◽  
魏鹏 Wei Peng
Keyword(s):  
Calibration Method ◽  
Monocular Vision

Industrial part localization and grasping using a robotic arm guided by 2D monocular vision

2018 ◽  
Vol 45 (6) ◽  
pp. 794-804 ◽  
Author(s):  
Zhaohui Zheng ◽  
Yong Ma ◽  
Hong Zheng ◽  
Yu Gu ◽  
Mingyu Lin
Keyword(s):  
Camera Calibration ◽  
High Precision ◽  
Calibration Method ◽  
Monocular Vision ◽  
Robotic Arm ◽  
Robot Arm ◽  
Content Type ◽  
Calibration Algorithm ◽  
Target Locating ◽  
Practical Implications

Purpose The welding areas of the workpiece must be consistent with high precision to ensure the welding success during the welding of automobile parts. The purpose of this paper is to design an automatic high-precision locating and grasping system for robotic arm guided by 2D monocular vision to meet the requirements of automatic operation and high-precision welding. Design/methodology/approach A nonlinear multi-parallel surface calibration method based on adaptive k-segment master curve algorithm is proposed, which improves the efficiency of the traditional single camera calibration algorithm and accuracy of calibration. At the same time, the multi-dimension feature of target based on k-mean clustering constraint is proposed to improve the robustness and precision of registration. Findings A method of automatic locating and grasping based on 2D monocular vision is provided for robot arm, which includes camera calibration method and target locating method. Practical implications The system has been integrated into the welding robot of an automobile company in China. Originality/value A method of automatic locating and grasping based on 2D monocular vision is proposed, which makes the robot arm have automatic grasping function, and improves the efficiency and precision of automatic grasp of robot arm.

scholarly journals Monocular Vision Ranging and Camera Focal Length Calibration

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Lixia Xue ◽  
Meian Li ◽  
Liang Fan ◽  
Aixia Sun ◽  
Tian Gao
Keyword(s):  
Camera Calibration ◽  
Polynomial Regression ◽  
Focal Length ◽  
Three Dimensional ◽  
Calibration Method ◽  
Monocular Vision ◽  
Field Of Vision ◽  
Average Accuracy ◽  
Ground Object ◽  
The Relationship

The camera calibration in monocular vision represents the relationship between the pixels’ units which is obtained from a camera and the object in the real world. As an essential procedure, camera calibration calculates the three-dimensional geometric information from the captured two-dimensional images. Therefore, a modified camera calibration method based on polynomial regression is proposed to simplify. In this method, a parameter vector is obtained by pixel coordinates of obstacles and corresponding distance values using polynomial regression. The set of parameter’s vectors can measure the distance between the camera and the ground object in the field of vision under the camera’s posture and position. The experimental results show that the lowest accuracy of this focal length calibration method for measurement is 97.09%, and the average accuracy was 99.02%.

A Method on Monocular Vision of Camera for Spatial Position

2013 ◽  
Vol 281 ◽  
pp. 14-18 ◽  
Author(s):  
Zhen Yang ◽  
Ming Jun Wu ◽  
Fang Wang ◽  
Li Zhang ◽  
Li Na Gong
Keyword(s):  
Edge Detection ◽  
Geometric Model ◽  
Digital Camera ◽  
Calibration Method ◽  
Spatial Position ◽  
Monocular Vision ◽  
Feature Points ◽  
Intrinsic Parameter ◽  
Extrinsic Parameter ◽  
Parameter Matrix

In this paper, a method on monocular vision for spatial position is presented. The geometric model of digital camera is built and decomposed to intrinsic and extrinsic parameter matrixes under a certain assumption. Firstly, the intrinsic parameter matrix of camera is determined. Then, the extrinsic parameter matrix is solved according to the information of image. The edge detection operators are worked and in order to detect the accuracy of this method, the point of some feature points are obtained by using the principle of least squares. Compared with the conventional calibration method, this method is simple, fast and robust.

scholarly journals Monocular vision-based low-frequency vibration calibration method with correction of the guideway bending in a long-stroke shaker

2019 ◽  
Vol 27 (11) ◽  
pp. 15968
Author(s):  
Ming Yang ◽  
Ying Wang ◽  
Chenguang Cai ◽  
Zhihua Liu ◽  
Haijiang Zhu ◽  
...  
Keyword(s):  
Low Frequency ◽  
Calibration Method ◽  
Monocular Vision ◽  
Low Frequency Vibration ◽  
Long Stroke

Tractor-trailer-train braking time sequence detection based on monocular vision

2021 ◽  
Vol 13 (12) ◽  
pp. 168781402110670
Author(s):  
Libin Zhang ◽  
Shiyuan Feng ◽  
Hongying Shan ◽  
Guanran Wang
Keyword(s):  
Template Matching ◽  
Slip Rate ◽  
Calibration Method ◽  
Time Sequence ◽  
Monocular Vision ◽  
Sequence Detection ◽  
Detection Scheme ◽  
Intelligent Detection ◽  
Vehicle Test ◽  
Braking Process

The tractor-trailer-train at the braking process prone to braking instability caused by asynchronous braking between the shafts. With respect to the lack of intelligent detection of Braking Time Sequence (BTS), a non-contact dynamic detection scheme of intelligent vehicle BTS is proposed. Based on the monocular vision principle, the edge markers of tractor-trailer train tires are identified, and the tire slip rate is solved. The noise reduction of the collected image is processed. The marker area is obtained by Blob analysis. This region at the image to be matched is identified by the template matching algorithm based on contour. The camera is calibrated by Zhang’s calibration method. In order to verify the effectiveness of the detection scheme, the real vehicle test was carried out. The test results show that the error of slip rate solution is below 4.2%.

A Monocular Vision System Based on the Equidistance Pseudo Binocular Feature Recognition

2012 ◽  
Vol 226-228 ◽  
pp. 1987-1992
Author(s):  
Jing Zhang ◽  
Ming Zhong ◽  
Bo Huang
Keyword(s):  
Feature Recognition ◽  
Vision System ◽  
Calibration Method ◽  
Monocular Vision ◽  
Localization Algorithm ◽  
Space Transformation ◽  
Transformation Relation ◽  
Space Coordinate ◽  
Space Matrix ◽  
Target Characteristics

Monocular vision system for medical robot must have high accuracy. In traditional monocular vision system, localization algorithm is realized by image space transformation, which leads to a trivial calculation process and a complex camera calibration method, therefore, this paper presents a new target characteristics identification method. Through the establishment of an equidistance pseudo binocular image acquisition way, searching the image and space coordinate transformation relation, avoid the complicated space matrix conversion and improve the position precision. Using Pointer method for image processing and customized backtracking boundary conditions for image searching, this paper realizes the curve fitting of target features boundary, and pattern recognition. Finally, an experiment is completed to guide the pharmacy movement of the Staubli TX40 arm, whose software runs within 200 ms and location error is less in 0.2 mm, verifies the validity of the algorithm.

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