Camera calibrationless vision calibration for transfer robot system

Nobutaka Kimura; Toshio Moriya; Kohsei Matsumoto

doi:10.1117/12.703010

17 February 2007 Camera calibrationless vision calibration for transfer robot system

Nobutaka Kimura, Toshio Moriya, Kohsei Matsumoto

Proceedings Volume 6503, Machine Vision Applications in Industrial Inspection XV; 65030F (2007) https://doi.org/10.1117/12.703010
Event: Electronic Imaging 2007, 2007, San Jose, CA, United States

Abstract

This research was focused on a system in which a manipulator with robot vision transfers objects to a mobile robot that moves on a flat floor. In this system, an end effector of a manipulator operates on a plane surface, so only single vision is required. In a robot vision system, many processes are usually needed for vision calibration, and one of them is measurement of camera parameters. We developed a calibration technique that does not explicitly require camera parameters to reduce the number of calibration processes required for our researched system. With this technique, we measured relations between coordinate systems of images and a mobile robot in the moving plane by using a projective transformation framework. We also measured relations between images and the manipulator in an arbitrary plane in the same way. By analyzing the results, we obtained a relation between the mobile robot and the manipulator without explicitly calculating the camera parameters. This means capturing images of the calibration board can be skipped. We tested the calibration technique using an object-transfer task. The results showed the technique has sufficient accuracy to achieve the task.

Citation Download Citation

Nobutaka Kimura, Toshio Moriya, and Kohsei Matsumoto "Camera calibrationless vision calibration for transfer robot system", Proc. SPIE 6503, Machine Vision Applications in Industrial Inspection XV, 65030F (17 February 2007); https://doi.org/10.1117/12.703010

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