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Proceedings Paper

3-dimensional measurement of cable configuration being based on feature tracking motion stereo
Author(s): Yukiyasu Domae; Haruhisa Okuda; Hidenori Takauji; Shun'ichi Kaneko; Takayuki Tanaka
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Paper Abstract

We propose a novel three-Dimensional measurement approach of flexible cables for factory automation appliations, such as cable handling, connecter insertion without conflicts with cables by using robotic arms. The approach is based on motion stereo with a vision sensor. Laser slit beams are irradiated and make landmalks on the cables to solve stereo correspondence problem efficiently. These landmark points and interpolated points having rich texture are tracked in a image sequence, and reconstructed as the cable shape. For stable feature point tracking, a robust texture matching method which is Orientation Code Matching and tracking stability analysis are applied. In our experiments, arch-like cables have been reconstructed with an uncertainty of 1.5 % by this method.

Paper Details

Date Published: 8 October 2007
PDF: 8 pages
Proc. SPIE 6719, Optomechatronic Systems Control III, 67190J (8 October 2007); doi: 10.1117/12.754594
Show Author Affiliations
Yukiyasu Domae, Hokkaido Univ. (Japan)
Haruhisa Okuda, Mitsubishi Electric Corp. (Japan)
Hidenori Takauji, Hokkaido Univ. (Japan)
Shun'ichi Kaneko, Hokkaido Univ. (Japan)
Takayuki Tanaka, Hokkaido Univ. (Japan)

Published in SPIE Proceedings Vol. 6719:
Optomechatronic Systems Control III
Sergej Fatikow; Farrokh Janabi-Sharifi; Toshio Fukuda; Hyungsuck Cho; Heikki N. Koivo, Editor(s)

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