Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Development of a Remote Object's 3D Position Measuring System

원격지 물체의 삼차원 위치 측정시스템의 개발

  • Park, Kang (Dept.of Mechanical Engineering, Myongji University)
  • 박강 (명지대학교 기계공학과)
  • Published : 2000.08.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper a 3D position measuring device that finds the 3D position of an arbitarily placed object using a camersa system is introduced. The camera system consists of three stepping motors and a CCD camera and a laser. The viewing direction of the camera is controlled by two stepping motors (pan and tilt motors) and the direction of a laser is also controlled by a stepping motors(laser motor). If an object in a remote place is selected from a live video image the x,y,z coordinates of the object with respect to the reference coordinate system can be obtained by calculating the distance from the camera to the object using a structured light scheme and by obtaining the orientation of the camera that is controlled by two stepping motors. The angles o f stepping motors are controlled by a SGI O2 workstation through a parallel port. The mathematical model of the camera and the distance measuring system are calibrated to calculate an accurate position of the object. This 3D position measuring device can be used to acquire information that is necessary to monitor a remote place.

Keywords

References

  1. Cannon D.J., Leifer L.J., 'Point-and-Direct Robotics,' International Conference on Intelligent Telerobotics, Greensboro NC, Nov., pp. 95-106, 1991
  2. Sheridan T.B., 'Telerobotics, Automation, and Human Supervisory Control,' The MIT Press, Cambridge, MA, 1992
  3. Fu K.S., Gonzalez R.C., Lee C.S.G., 'Robotics: control, sensing, vision, and intelligence,' McGraw Hill, 1987
  4. 손영탁, 김재선, 조형석, 고광일, '로봇 아크용접 공정을 위한 용접접합부의 시각인식 및 추종,' 대한기계학회 논문집 제19권 제12호, pp. 3216-3229, 1995
  5. Tsai R.Y., 'A Versatile Camera Calibration Technique for High-Accuracy 3D Machine Vision Metrology Using Off-the-Shelf TV Camera and Lenses,' IEEE Journal of Robotics and Automation, Vol. RA-3, No. 4, pp. 323-334, 1988
  6. Tsai R.Y., Lenz R.K., 'Overview of a Unified Calibration Trio for Robot Eye, Eye-to-Hand, and Hand Calibration using 3D Machine Vision,' SPIE Vol.1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation, pp. 202-213, 1988
  7. Shiang T.Y., Sommer H.J., Eckhardt R.B., 'Quantification of cranial surface asymmetry using superquadrics,' Biomed Eng. Appl. Basis Comm, Feb., Vol. 5, pp. 20-37, 1993
  8. Craig J.J., 'Introduction to Robotics,' Addison-Wesley, 1989