組立ロボット用ステレオカメラによる3次元距離計測 : カメラモデルとパラメータの幾何学的校正

概要

論文の詳細を見る
In the assembly robot system, CCD camera is useed to measure the distance to the object. The camera is mainly used as the single camera system. But recently practical 3D measuring system is demanded for assembly robot system to utilize its positioning and repeat accuracy with the support of the 3D measuring ability. In this paper stereo camera system is studied. A camera model is introduced to calculate the 3D coordinates of the object point in the world coordinate system, and a new geometrical calibration method of the stereo camera system is presented. By the experimental results using fl6mm and F1.6 lenses about 0.5 mm accuracy in 5mm cubic is gained. The result is not sufficient for assembly robot, but the prospect to improve it to 0.0lmm accuracy has been discussed.
公益社団法人精密工学会の論文
1999-08-05