Journal of the Korean Institute of Telematics and Electronics (대한전자공학회논문지)

The Institute of Electronics and Information Engineers (대한전자공학회)
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3 Dimensional Position Estimation for Eye-in-Hand Robot Vision

Eye-in-Hand 로보트 비젼을 이용한 3차원 위치 정보의 추정

  • Jang, Won (Dept. of Electrical Eng., KAIST) ;
  • Kim, Kyung-Jin (Dept. of Electrical Eng., KAIST) ;
  • Chung, Myung-Jin (Dept. of Electrical Eng., KAIST) ;
  • Bien, Zeungnam (Dept. of Electrical Eng., KAIST)
  • 장원 (한국과학기술원 전기 및 전자공학과) ;
  • 김경진 (한국과학기술원 전기 및 전자공학과) ;
  • 정명진 (한국과학기술원 전기 및 전자공학과) ;
  • 변증남 (한국과학기술원 전기 및 전자공학과)
  • Published : 1989.08.01
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Abstract

This paper describes a 3 dimensional position estimation method for a eye-in-hand robot vision system. The camera is mounted on the tip of a robot manipulator, and moves without restriction. Sequences of images are considered simultaneously for nonlinear least-square formation, and the best estimation of the 3 dimensional position is searched by the Simplex search algorithm. The experiments show that the proposed method can provide fairly accurate position information, while the robot is executing a given task.

Keywords