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A new Camera Model for Higher Accuracy Pose Calculations
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 Technology, Mathematics and Computer Science, Division for Mathematics and Sciences.
Chalmers University of Technology.
2006 (English)In: Industrial Electronics, 2006 IEEE International Symposium on, 2006, 2798-2802 p.Conference paper, (Refereed)
Abstract [en]

A position and orientation (pose) measurement system is being developed. The system, called PosEye, is based on a camera and by using the information in the image, the pose of the camera taking the image can be calculated. The system is aimed to be placed on an industrial robot for welding, but it is flexible and can also be used in many other applications. The accuracy has been measured, and it is concluded that the accuracy needs to be improved for welding applications. To make the pose measurement, reference points, that can be recognized in the image, are distributed in the working area. The positions of the reference points and the parameters in a camera model are initially computed automatically from sample images from a number of directions to the reference points. After this calibration, the pose can be calculated at each sample image. For high accuracy there is a need to have a camera model that takes into account a number of distortion effects, which are further developed in this paper. The new model is used to express an optimization cost function that can be used for both the pose calculation, and the extensive calibration, that determines camera parameters in the camera model and the positions of the reference points

Place, publisher, year, edition, pages
2006. 2798-2802 p.
Keyword [en]
calibration, image recognition, optimisation, position measurement, robotic welding, camera model, distortion effects, extensive calibration, industrial robot, optimization cost function, pose calculations, position and orientation measurement system, welding applications
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
ENGINEERING, Mechatronics
Identifiers
URN: urn:nbn:se:hv:diva-1793DOI: 10.1109/ISIE.2006.296058ISBN: 1-4244-0496-7 (print)OAI: oai:DiVA.org:hv-1793DiVA: diva2:242162
Available from: 2009-10-07 Created: 2009-10-06 Last updated: 2016-02-08Bibliographically approved

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Ryberg, AndersChristiansson, Anna-KarinEriksson, Kenneth
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CiteExportLink to record
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Citation style
  • apa
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  • modern-language-association-8th-edition
  • vancouver
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More styles
Language
  • de-DE
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