한국공작기계학회논문집 (Transactions of the Korean Society of Machine Tool Engineers)

한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
권호 표지

A Study on the Camera Calibration Algorithm of Robot Vision Using Cartesian Coordinates

  • 발행 : 2002.12.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this study, we have developed an algorithm by attaching a camera at the end-effector of industrial six-axis robot in order to determine position and orientation of the camera system from cartesian coordinates. Cartesian coordinate as a starting point to evaluate for suggested algorithm, it was easy to confront increase of orientation vector for a linear line point that connects two points from coordinate space applied by recursive least square method which includes previous data result and new data result according to increase of image point. Therefore, when the camera attached to the end-effector has been applied to production location, with a calibration mask that has more than eight points arranged, this simulation approved that it is possible to determine position and orientation of cartesian coordinates of camera system even without a special measuring equipment.

키워드

참고문헌

  1. Artificial. Intell. v.5 On Calibrating Computer Controlled Cameras for Perceiving 3-D Scene Sobel, I. https://doi.org/10.1016/0004-3702(74)90029-0
  2. IEEE Transcations on Pattern Analysis and Machime Intelligence v.12 no.1 Determination of Camera Location form 2-D to 3-D Line and Point Correspondences Yuncai, L.;Thomas S.;Oliver D. F.
  3. The Transcation of the Korean Institute of Electrical Engineers v.40 no.11 A Study on the Camera Calibration Method Using Line Correspondence Kim, J. K.;Lee, B. H.
  4. IEEE Journal Robotics and Automation v.13 no.4 A Versatile Camera Calibration Technique for High-Accuracy 3-D Machine Vision Metrology Using Off-the-Shelf TV Cameras and Lens Tsai, R. Y.
  5. IEEE. Conf. on Robotics and Automation Camera Calibration Methodology Base on a Linear Perspective Transformation Error Model Puskorius,G.V.;Feldkamp,L.A.
  6. Proceeding of the KSMTE Spring Conference 2000 Determination of Camera System Orientation and Translation in Cartesian coordinates Lee, Y. J.;Shin, S. B.;Lee, Y. B.
  7. Journal of Control, Automation and Systems Engineering v.3 no.5 An Implementation of the Automatic Labeling Rolling-Coil Using Robot Vision System Lee, Y. J.;Lee, Y. B.
  8. Applied Numerical Analysis Curtis, F. G.