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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Weizhi Xing Yongsheng Ou |
| Copyright Year | 2015 |
| Description | Author affiliation: Guangdong Provincial Key Lab. of Robot. & Intell. Syst., Shenzhen Inst. of Adv. Technol., Shenzhen, China (Weizhi Xing; Yongsheng Ou) |
| Abstract | In a factory automation application, position measurement of a workpiece is crucial. Computer vision is one of the most important methods for localizing the workpiece. Special equipment, such as a camera and a laser range finder are often used to measure and detect the position of the workpiece. However, the process of obtaining these measurements are usually highly specialized and expensive. Our method concentrates on improving the accuracy of the workpiece position measurement without expensive equipment. We use Kinect as the 3D sensor, which consists of a RGB camera and a depth camera. First mark points in both the Kinect coordinate and the manipulator coordinate are obtained. Then calibration between Kinect and Manipulator is obtained using Quasi-Newton method with the initial mark points. In order to improve the accuracy, we propose an improved registration based on Iterative Closest Point (ICP) to further derive the final transformation matrix. Experiment shows that this comprehensive method is practical. |
| Starting Page | 457 |
| Ending Page | 461 |
| File Size | 8430559 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781479987283 |
| e-ISBN | 9781479987306 |
| DOI | 10.1109/CYBER.2015.7287981 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-06-08 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Kinect Workpiece Three-dimensional displays Accuracy Robot kinematics Registration Manipulators Robot sensing systems Cameras Localization |
| Content Type | Text |
| Resource Type | Article |
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