In this paper, a stereo vision 3D position measurement system for a three-axial pneumatic parallel mechanism robot arm is presented. The stereo vision 3D position measurement system aims to measure the 3D trajectories of the end-effector of the robot arm. To track the end-effector of the robot arm, the circle detection algorithm is used to detect the desired target and the SAD algorithm is used...

This paper has two parts. In the first part of the paper, we note the property that under the para perspective camera projection model of a camera, the set of 2D images produced by a 3D point can be optimally represented by two lines in the affine space (α−β space). The slope of these two lines are same, and we observe that this constraint is exactly the same as the epipolar line constraint. Us...

When the distance between an obstacle and a power line is less than the discharge distance, a discharge arc can be generated, resulting in the interruption of power supplies. Therefore, regular safety inspections are necessary to ensure the safe operation of power grids. Tall vegetation and buildings are the key factors threatening the safe operation of extra high voltage transmission lines wit...

The last few years have seen considerable interest in a the analysis and application of multilinear relations between corresponding features in images taken with a perspective camera. Given a point in space seen in two images, the image points satisfy an epipolar constraint expressed by the fundamental matrix. This is a 3× 3 matrix F that satisfies the equation x′ Fx = 0 where x and x′ are any ...

In order to perform object modelling by using images processing procedures, line or feature extraction and stereo matching will be performed in general. However, there are some issues of efficient 3D modelling for historical structure. In particular, efficient line matching for reconstruction of objects is needed to be resolved. With this objective, this paper investigates a robust line matchin...

Power line inspection ensures the safe operation of a power transmission grid. Using unmanned aerial vehicle (UAV) images of power line corridors is an effective way to carry out these vital inspections. In this paper, we propose an automatic inspection method for power lines using UAV images. This method, known as the power line automatic measurement method based on epipolar constraints (PLAME...

Large field-of-view fisheye lens cameras have attracted more and more researchers’ attention in the field of robotics. However, there does not exist a convenient off-the-shelf stereo rectification approach which can be applied directly to fisheye stereo rig. One obvious drawback of existing methods is that the resampling distortion (which is defined as the loss of pixels due to under-sampling a...

1 Abstract For navigation and obstacle avoidance in the field of mobile robots, perception and identification of the surrounding environment is necessary. Depth maps therefore provide an essential description of the world seen through cameras. This thesis will investigate with different types of stereo matching algorithms for calculating depth maps. The task is to build and to implement a syste...

Relative orientation in a stereo pair (establishing 3D epipolar geometry) is generally described as a rigid body transformation, with one arbitrary translation component, between two formed bundles of rays. In the uncalibrated case, however, only the 2D projective pencils of epipolar lines can be established from simple image point homologies. These may be related to each other in infinite vari...