Modeling and calibration of a structured light scanner for 3-D robot vision
نویسندگان
چکیده
In this report we have used projectivity theory to model the process of structured light scanning for 3D robot vision. The projectivity formalism is used to derive a 4x3 transformation matrix that converts points in the image plane into their corresponding 3D world coordinates. Calibration of the scanner consists of computing the coefficient of this matrix by showing to the system a set of lines generated by suitable object edges. We end this paper by showing how the matrix can be used to convert image pixel locations into the world coordinates of the corresponding object points using two different scanning strategies.
منابع مشابه
Development and Verification of a Novel Robot-Integrated Fringe Projection 3D Scanning System for Large-Scale Metrology
Large-scale surfaces are prevalent in advanced manufacturing industries, and 3D profilometry of these surfaces plays a pivotal role for quality control. This paper proposes a novel and flexible large-scale 3D scanning system assembled by combining a robot, a binocular structured light scanner and a laser tracker. The measurement principle and system construction of the integrated system are int...
متن کاملRobot Motion Vision Part II: Implementation
The idea of Fixation introduced a direct method for general recovery of shape and motion from images without using either feature correspondence or optical flow [1,2]. There are some parameters which have important effects on the performance of fixation method. However, the theory of fixation does not say anything about the autonomous and correct choice of those parameters. This paper presents ...
متن کاملModeling Flexibility Effects in Robotic Arms Via the Modified 4x4 D-H Homogeneous Transformation
This paper presents a method for the kinematical modeling of robot manipulator arms with flexible members. Development of such techniques are important for the improvement of robotic arms precision performance and their mechanical design. The approach employs the (4X4) Denavit-Hartenberg homogeneous transformations to describe the kinematics of light weight flexible manipulator arms. The method...
متن کاملHow to self-calibrate a structured light sensor?
This paper deals with self-calibration and its adaptation to structured light vision. A brief survey on selfcalibration for stereovision is first proposed. Then, after having described the geometry of a structured light sensor and the constraints it imposes, a method based on the generation of Euclidean constraints is detailed. It is mainly shown how the projection of a known pattern is used to...
متن کاملA High Precision Approach to Calibrate a Structured Light Vision Sensor in a Robot-Based Three-Dimensional Measurement System
A robot-based three-dimensional (3D) measurement system is presented. In the presented system, a structured light vision sensor is mounted on the arm of an industrial robot. Measurement accuracy is one of the most important aspects of any 3D measurement system. To improve the measuring accuracy of the structured light vision sensor, a novel sensor calibration approach is proposed to improve the...
متن کامل