NDLI: Stereo vision algorithm for robotic assembly operations

Content Provider	IEEE Xplore Digital Library
Author	Thorsley, M. Okouneva, G. Karpynczyk, J.
Copyright Year	2004
Description	Author affiliation: Ryerson University (Thorsley, M.)
Abstract	A stereo vision Linear Triangulation (LT) algorithm can be utilized in space robotics assembly operations. The LT algorithm recovers the relative orientation and translation (pose) of objects marked with high contrast targets using two or more pinhole charge-coupled device (CCD) cameras. The cameras view a set (including a disjoint set) of targets measured with respect to the same point in space. This study evaluates the theoretical accuracy of the LT algorithm, its benefits and performance. The introduction of a third camera into the vision system envelope is also examined and discussed. Experiments indicated that most accuracy in pose estimation is gained by the first 15-25 degrees of camera separation, and then the decrease in values of the covariance matrix elements stabilizes. We compare the numerical data for singe, two-camera and threecamera cases using extensive experiments on simulated images.
Starting Page	361
Ending Page	366
File Size	1401824
Page Count	6
File Format	PDF
ISBN	0769521274
DOI	10.1109/CCCRV.2004.1301468
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-05-17
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robotic assembly Charge coupled devices Computer vision Target tracking Machine vision Robot kinematics Robot vision systems Cameras Stereo vision Charge-coupled image sensors
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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