Title :
A Vision Based Position System for Robot Picking
Author :
Fang, Jinsheng ; Deng, Xiaoyan ; Sun, Cunmiao ; Wang, Lei ; Huang, Yuanqing
Author_Institution :
Dept. of Mech. & Electr. Eng., Xiamen Univ., Xiamen, China
Abstract :
A machine vision system for robot picking is presented in this paper which is used in robot polishing line. An algorithm for matching work-pieces in a given plane is proposed, which includes camera calibration, image rectification, image preprocessing and image matching. By calibrating the camera, the relationship between the camera and the working plane is established. Experiment results show that camera calibration and image rectification help reduce the matching error apparently in orientation and position, reducing the error from 1.876% to 0.264% on the left bottom and 0.464% to 0.056% on the top right.
Keywords :
calibration; image matching; polishing; rectification; robot vision; video cameras; camera calibration; image matching; image rectification; machine vision; position system; robot picking; robot polishing line; Calibration; Cameras; Image matching; Lighting; Machine vision; Nonlinear distortion; Robots; camera calibration; image matching; machine vision; robot picking;
Conference_Titel :
Electrical and Control Engineering (ICECE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-6880-5
DOI :
10.1109/iCECE.2010.85
