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Proceedings Paper

Lightweight camera head for robotic-based binocular stereo vision: an integrated engineering approach
Author(s): John R. G. Pretlove; Graham A. Parker
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Paper Abstract

This paper presents the design and development of a real-time eye-in-hand stereo-vision system to aid robot guidance in a manufacturing environment. The stereo vision head comprises a novel camera arrangement with servo-vergence, focus, and aperture that continuously provides high-quality images to a dedicated image processing system and parallel processing array. The stereo head has four degrees of freedom but it relies on the robot end- effector for all remaining movement. This provides the robot with exploratory sensing abilities allowing it to undertake a wider variety of less constrained tasks. Unlike other stereo vision research heads, the overriding factor in the Surrey head has been a truly integrated engineering approach in an attempt to solve an extremely complex problem. The head is low cost, low weight, employs state-of-the-art motor technology, is highly controllable and occupies a small size envelope. Its intended applications include high-accuracy metrology, 3-D path following, object recognition and tracking, parts manipulation, and component inspection for the manufacturing industry.

Paper Details

Date Published: 1 March 1992
PDF: 14 pages
Proc. SPIE 1708, Applications of Artificial Intelligence X: Machine Vision and Robotics, (1 March 1992); doi: 10.1117/12.58625
Show Author Affiliations
John R. G. Pretlove, Univ. of Surrey (United Kingdom)
Graham A. Parker, Univ. of Surrey (United Kingdom)

Published in SPIE Proceedings Vol. 1708:
Applications of Artificial Intelligence X: Machine Vision and Robotics
Kevin W. Bowyer, Editor(s)

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