F-1329 輝度勾配に基づく実時間運動ステレオビジョン : マニピュレータ制御への応用(J29-1 ロボットビジョン)(J29 センサ・アクチュエータシステムとその知能化 : 実環境で活躍するメカトロニクスをめざして)

概要

論文の詳細を見る
To realize autonomous manipulators which work outdoors, 3-D vision sensors are required to measure objects and environments under severe conditions. The authors have proposed a real-time motion stereo vision which measures 3-D coordinates of objects with simple calculations based on brightness gradient of images captured by a motion camera. In this paper, to improve the measuring accuracy, optimal parameters are derived experimentally and, based on the results, a downsized motion camera mechanism is fabricated. Then, the vision sensor is applied to 6-DOF electro-hydraulic manipulator control to grasp a column.
社団法人日本機械学会の論文
2001-08-22