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Proceedings Paper

Camera calibrationless vision calibration for transfer robot system
Author(s): Nobutaka Kimura; Toshio Moriya; Kohsei Matsumoto
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Paper Abstract

This research was focused on a system in which a manipulator with robot vision transfers objects to a mobile robot that moves on a flat floor. In this system, an end effector of a manipulator operates on a plane surface, so only single vision is required. In a robot vision system, many processes are usually needed for vision calibration, and one of them is measurement of camera parameters. We developed a calibration technique that does not explicitly require camera parameters to reduce the number of calibration processes required for our researched system. With this technique, we measured relations between coordinate systems of images and a mobile robot in the moving plane by using a projective transformation framework. We also measured relations between images and the manipulator in an arbitrary plane in the same way. By analyzing the results, we obtained a relation between the mobile robot and the manipulator without explicitly calculating the camera parameters. This means capturing images of the calibration board can be skipped. We tested the calibration technique using an object-transfer task. The results showed the technique has sufficient accuracy to achieve the task.

Paper Details

Date Published: 17 February 2007
PDF: 8 pages
Proc. SPIE 6503, Machine Vision Applications in Industrial Inspection XV, 65030F (17 February 2007); doi: 10.1117/12.703010
Show Author Affiliations
Nobutaka Kimura, Hitachi, Ltd. (Japan)
Toshio Moriya, Hitachi, Ltd. (Japan)
Kohsei Matsumoto, Hitachi, Ltd. (Japan)

Published in SPIE Proceedings Vol. 6503:
Machine Vision Applications in Industrial Inspection XV
Fabrice Meriaudeau; Kurt S. Niel, Editor(s)

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