DocumentCode
3319888
Title
Optimal positioning of robot equipped with camera for stereo vision
Author
Hsiao, Roger C. ; Choi, Hyeung-Sik
Author_Institution
Dept. of Mech. Eng., South Carolina Univ., Columbia, SC, USA
fYear
1989
fDate
9-12 Apr 1989
Firstpage
486
Abstract
The optimal positioning of a robot equipped with a camera is studied to ensure the best triangulation accuracy. Two quantities are derived to measure the triangulation accuracy: the triangulation sensitivity and the triangulation error; both are derived based on the idealized pinhole camera model. By minimizing these measures, the optimum positions of the camera are determined. The position constraints on the camera due to the robot configuration and the working environment are also included in the problem formulation
Keywords
cameras; computer vision; matrix algebra; robots; idealized pinhole camera model; optimal positioning; position constraints; problem formulation; robot configuration; stereo vision; triangulation accuracy; triangulation error; triangulation sensitivity; working environment; Cameras; Equations; Layout; Machine vision; Manipulators; Mechanical engineering; Robot kinematics; Robot sensing systems; Robot vision systems; Stereo vision;
fLanguage
English
Publisher
ieee
Conference_Titel
Southeastcon '89. Proceedings. Energy and Information Technologies in the Southeast., IEEE
Conference_Location
Columbia, SC
Type
conf
DOI
10.1109/SECON.1989.132426
Filename
132426
Link To Document