1A1-B12 設置誤差を考慮したランドマークによる画像座標の補正

概要

論文の詳細を見る
Recently, the productive system that recognizes changes in the environment is requested on the production site. There, to recognize changes in the environment we use cameras. Moreover, the system composed of the camera and the manipulator is called a hand-eye system, and the hand-eye calibration is needed in this system. Even if the error from the calibration position of the camera and the manipulator is minute, re-calibration is needed in this calibration method. It takes time to the calculation of the projection matrix to make the image coordinates and the three-dimensional coordinate correspond in re-calibration. Then, the change in the position of the camera and the manipulator is recognized by the landmark in this study. And, we proposes the technique for correcting it to former three-dimensional position without calculating the projection matrix again by correcting the image coordinates, and effectiveness is verified by the experiment.
一般社団法人日本機械学会の論文
2009-05-25