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http://dx.doi.org/10.5302/J.ICROS.2005.11.1.034

Modeling and Calibration of a 3D Robot Laser Scanning System  

Lee Jong-Kwang (충남대학교 기계설계공학과)
Yoon Ji Sup (한국원자력연구소)
Kang E-Sok (충남대학교 기계설계공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.1, 2005 , pp. 34-40 More about this Journal
Abstract
In this paper, we describe the modeling for the 3D robot laser scanning system consisting of a laser stripe projector, camera, and 5-DOF robot and propose its calibration method. Nonlinear radial distortion in the camera model is considered for improving the calibration accuracy. The 3D range data is calculated using the optical triangulation principle which uses the geometrical relationship between the camera and the laser stripe plane. For optimal estimation of the system model parameters, real-coded genetic algorithm is applied in the calibration process. Experimental results show that the constructed system is able to measure the 3D position within about 1mm error. The proposed scheme could be applied to the kinematically dissimilar robot system without losing the generality and has a potential for recognition for the unknown environment.
Keywords
robot laser scanning system; triangulation; parameter estimation; real-coded genetic algorithm;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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