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Optical Engineering

Line-feature-based calibration method of structured light plane parameters for robot hand-eye system
Author(s): Yuhan Qi; Fengshui Jing; Min Tan
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Paper Abstract

For monocular-structured light vision measurement, it is essential to calibrate the structured light plane parameters in addition to the camera intrinsic parameters. A line-feature-based calibration method of structured light plane parameters for a robot hand-eye system is proposed. Structured light stripes are selected as calibrating primitive elements, and the robot moves from one calibrating position to another with constraint in order that two misaligned stripe lines are generated. The images of stripe lines could then be captured by the camera fixed at the robot’s end link. During calibration, the equations of two stripe lines in the camera coordinate system are calculated, and then the structured light plane could be determined. As the robot’s motion may affect the effectiveness of calibration, so the robot’s motion constraints are analyzed. A calibration experiment and two vision measurement experiments are implemented, and the results reveal that the calibration accuracy can meet the precision requirement of robot thick plate welding. Finally, analysis and discussion are provided to illustrate that the method has a high efficiency fit for industrial in-situ calibration.

Paper Details

Date Published: 4 March 2013
PDF: 13 pages
Opt. Eng. 52(3) 037202 doi: 10.1117/1.OE.52.3.037202
Published in: Optical Engineering Volume 52, Issue 3
Show Author Affiliations
Yuhan Qi, Institute of Automation (China)
Fengshui Jing, Institute of Automation (China)
Min Tan, Institute of Automation (China)

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