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Accuracy Investigation of a Vision Based System for Pose Measurements
University West, Department of Technology, Mathematics and Computer Science, Division for Electrical Engineering and Land Surveying.
University West, Department of Technology, Mathematics and Computer Science, Division for Electrical Engineering and Land Surveying.ORCID iD: 0000-0001-5608-8636
University West, Department of Engineering Science, Divison of Natural Sciences, Surveying and Mechanical Engineering.
2006 (English)In: Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on, 2006, p. 1-6Conference paper, Published paper (Other academic)
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

Place, publisher, year, edition, pages
2006. p. 1-6
Keywords [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
National Category
Control Engineering
Research subject
ENGINEERING, Mechatronics; ENGINEERING, Mathematics
Identifiers
URN: urn:nbn:se:hv:diva-1792DOI: 10.1109/ICARCV.2006.345204ISBN: 1-4244-0341-3 (print)OAI: oai:DiVA.org:hv-1792DiVA, id: diva2:242157
Conference
ICARCV'06
Available from: 2009-10-07 Created: 2009-10-06 Last updated: 2019-11-15Bibliographically approved
In thesis
1. Camera Modelling and Calibration with Machine Vision Applications
Open this publication in new window or tab >>Camera Modelling and Calibration with Machine Vision Applications
2010 (English)Doctoral thesis, comprehensive summary (Other academic)
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.

Place, publisher, year, edition, pages
Chalmers University of Technology: Chalmers reproservice, 2010. p. 159
Series
Doktorsavhandlingar vid Chalmers Tekniska Högskola, ISSN 0346-718X ; 3046
Keywords
Camera model, Camera calibration, Fisheye camera, Catadioptric camera, Stereo vision
National Category
Other Engineering and Technologies not elsewhere specified
Research subject
ENGINEERING, Manufacturing and materials engineering
Identifiers
urn:nbn:se:hv:diva-2343 (URN)978-91-7385-365-1 (ISBN)
Public defence
2010-03-03, C118, Högskolan Väst, Trollhättan, 10:15 (English)
Opponent
Supervisors
Available from: 2010-04-23 Created: 2010-04-20 Last updated: 2010-04-23Bibliographically approved

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Christiansson, Anna-KarinEriksson, Kenneth

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