Eye-in-Hand 로보트 비젼을 이용한 3차원 위치 정보의 추정

3 Dimensional Position Estimation for Eye-in-Hand Robot Vision

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.