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http://dx.doi.org/10.5370/JEET.2015.10.4.1830

Automatic Registration of Two Parts using Robot with Multiple 3D Sensor Systems  

Ha, Jong-Eun (Dept. of Mechanical and Automotive Engineering, Seoul National University of Science and Technology)
Publication Information
Journal of Electrical Engineering and Technology / v.10, no.4, 2015 , pp. 1830-1835 More about this Journal
Abstract
In this paper, we propose an algorithm for the automatic registration of two rigid parts using multiple 3D sensor systems on a robot. Four sets of structured laser stripe system consisted of a camera and a visible laser stripe is used for the acquisition of 3D information. Detailed procedures including extrinsic calibration among four 3D sensor systems and hand/eye calibration of 3D sensing system on robot arm are presented. We find a best pose using search-based pose estimation algorithm where cost function is proposed by reflecting geometric constraints between sensor systems and target objects. A pose with minimum gap and height difference is found by greedy search. Experimental result using demo system shows the robustness and feasibility of the proposed algorithm.
Keywords
Robot vision; Robot manipulation; Registration; Assembly; Structured stripe system;
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