Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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A Study on the Improvement of Pose Information of Objects by Using Trinocular Vision System

Trinocular Vision System을 이용한 물체 자세정보 인식 향상방안

  • Kim, Jong Hyeong (Department of Mechanical System Design Engineering, Seoul National university of Science & Technology) ;
  • Jang, Kyoungjae (Graduate School of Mechanical Design and Robot Engineering, Seoul National university of Science & Technology) ;
  • Kwon, Hyuk-dong (Manufacturing Systems and Design Engineering Programme, Seoul National University of Science and Technology)
  • Received : 2017.02.26
  • Accepted : 2017.04.14
  • Published : 2017.04.15
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Abstract

Recently, robotic bin-picking tasks have drawn considerable attention, because flexibility is required in robotic assembly tasks. Generally, stereo camera systems have been used widely for robotic bin-picking, but these have two limitations: First, computational burden for solving correspondence problem on stereo images increases calculation time. Second, errors in image processing and camera calibration reduce accuracy. Moreover, the errors in robot kinematic parameters directly affect robot gripping. In this paper, we propose a method of correcting the bin-picking error by using trinocular vision system which consists of two stereo cameras andone hand-eye camera. First, the two stereo cameras, with wide viewing angle, measure object's pose roughly. Then, the 3rd hand-eye camera approaches the object, and corrects the previous measurement of the stereo camera system. Experimental results show usefulness of the proposed method.

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References

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