A flexible camera positioning strategy for robot-based visual inspection applications

Chuantao Zang, Koichi Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents a flexible camera positioning strategy to deal with unknown object poses in a visual inspection application. The object's CAD model is used in a view-based strategy to estimate the object pose. An effective lookup table method is adopted to speed up the estimation. The principal component analysis (PCA) is used to reduce the lookup table size and save memory space. Compared with those edge-based approaches which require good initial pose estimation, our method can find the initial pose in a large range without any initial guess. With the pose estimation precise Eye-in-Hand camera positioning is realized by homography-based visual servo to inspect the object. The inspection strategy with unknown object poses is described in detail. Experiments are carried out to evaluate the system performances.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
Pages527-532
Number of pages6
DOIs
Publication statusPublished - 2012 Oct 23
Event2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 - Chengdu, China
Duration: 2012 Aug 52012 Aug 8

Publication series

Name2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012

Other

Other2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
CountryChina
CityChengdu
Period12/8/512/8/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering

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