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Proceedings Paper

Vision sensor calibration for robotic work cells
Author(s): Anatoly Pashkevich; Juha Roening; Andrew V. Sidorov
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Paper Abstract

The paper deals with camera location calibration that is rigidly mounted on a robot hand or on its base. The proposed approach is based on computing an homogeneous transformation matrix that describes the relation between a real camera location and its model maintained by a robot control system. Algorithms are based on a two-stage computational procedure and are designed for two cases of input: vector and matrix data. It was established that the algorithms provide similar accuracy but essentially differ in required computer time. High speed performance of the developed algorithm with matrix input data is caused due to the low dimension of input data in the first stage, and the low time consumption of the second stage that deals with the whole amount of data.

Paper Details

Date Published: 9 November 1994
PDF: 12 pages
Proc. SPIE 2247, Sensors and Control for Automation, (9 November 1994); doi: 10.1117/12.193937
Show Author Affiliations
Anatoly Pashkevich, Belarussian State Univ. of Informatics and Radio Electronics (Belarus)
Juha Roening, Univ. of Oulu (Finland)
Andrew V. Sidorov, Belarussian State Univ. of Informatics and Radio Electronics (Belarus)

Published in SPIE Proceedings Vol. 2247:
Sensors and Control for Automation
Markus Becker; R. W. Daniel; Otmar Loffeld, Editor(s)

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