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Accuracy Investigation of a Vision Based System for Pose Measurements
Högskolan Väst, Institutionen för teknik, matematik och datavetenskap, Avd för elektro- och lantmäteri.
Högskolan Väst, Institutionen för teknik, matematik och datavetenskap, Avd för elektro- och lantmäteri.ORCID-id: 0000-0001-5608-8636
Högskolan Väst, Institutionen för ingenjörsvetenskap, Avd för naturvetenskap, lantmäteri- och maskinteknik.
2006 (engelsk)Inngår i: Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on, 2006, s. 1-6Konferansepaper, Publicerat paper (Annet vitenskapelig)
Abstract [en]

The accuracy of a pose measurement system, called PosEye, is investigated. PosEye is a system for real time measurement of the position and orientation, the pose, of a camera (sensor) using the information in its image. This sensor is aimed to be mounted on an industrial robot for welding. The investigation was done by comparing the PosEye system position output to that of a coordinate measuring machine. Sources of errors are identified, and suggestions for improvements are made

sted, utgiver, år, opplag, sider
2006. s. 1-6
Emneord [en]
industrial robots, photogrammetry, pose estimation, position measurement, robot vision, welding, PosEye system, industrial robot, photogrammetry, pose measurement, position accuracy, position measurement, position sensor, real time measurement, robot vision, vision based system, welding, 6 DOF, photogrammetry, position accuracy, position sensor, robot vision
HSV kategori
Forskningsprogram
TEKNIK, Mekatronik; TEKNIK, Matematik
Identifikatorer
URN: urn:nbn:se:hv:diva-1792DOI: 10.1109/ICARCV.2006.345204ISBN: 1-4244-0341-3 (tryckt)OAI: oai:DiVA.org:hv-1792DiVA, id: diva2:242157
Konferanse
ICARCV'06
Tilgjengelig fra: 2009-10-07 Laget: 2009-10-06 Sist oppdatert: 2020-04-06bibliografisk kontrollert
Inngår i avhandling
1. Camera Modelling and Calibration with Machine Vision Applications
Åpne denne publikasjonen i ny fane eller vindu >>Camera Modelling and Calibration with Machine Vision Applications
2010 (engelsk)Doktoravhandling, med artikler (Annet vitenskapelig)
Abstract [en]

Camera modelling and calibration are important parts of machine vision. They can be used for calculating geometric information from images. A camera model is a mathematical projection between a 3D object space and a 2D image. The camera calibration is a mathematical procedure calculating parameters of the camera model, usually based on several images of reference points. These fundamental parts of machine vision are improved in this thesis. One large part is the development of a generic camera model, GCM, that is accurate, computationally efficient and can be used for both conventional, fisheye and even catadioptric cameras. Different models were used in the past for conventional and  omnidirectional cameras and this is a well-known problem, the solution of which is described in this thesis. The accuracy of camera models is improved by introducing new ways of compensating for different distortions, such as radial istortion, varying entrance pupil point and decentring distortion. Calibration is mproved by introducing newmeans of calculating start estimates of camera parameters, from analysing shapes, sizes and positions of the reference points in the images. These start estimates are needed in order to make the calibration converge. Methods for calculating better reference centre points than the centres of gravity are developed in order to increase the accuracy further. Non-trivial null spaces that occur during calibration are identified. Awareness of these improve the calibration. Calibrations with different camera models are implemented and tested for real cameras in order to compare their accuracy. Certain models are better for certain situations, but the overall performance and properties are favourable for the GCM. A stereo vision welding robot system is developed, using the new model. It determines the geometry of a 3D weld joint, so that a robot can follow it. The same system is implemented in a virtual environment using a simulation software. Such simulation is important since it makes it possible to develop robot vision systems off-line.

sted, utgiver, år, opplag, sider
Chalmers University of Technology: Chalmers reproservice, 2010. s. 159
Serie
Doktorsavhandlingar vid Chalmers Tekniska Högskola, ISSN 0346-718X ; 3046
Emneord
Camera model, Camera calibration, Fisheye camera, Catadioptric camera, Stereo vision
HSV kategori
Forskningsprogram
TEKNIK, Produktions- och materialteknik
Identifikatorer
urn:nbn:se:hv:diva-2343 (URN)978-91-7385-365-1 (ISBN)
Disputas
2010-03-03, C118, Högskolan Väst, Trollhättan, 10:15 (engelsk)
Opponent
Veileder
Tilgjengelig fra: 2010-04-23 Laget: 2010-04-20 Sist oppdatert: 2023-04-05bibliografisk kontrollert

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Ryberg, AndersChristiansson, Anna-KarinEriksson, Kenneth

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