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Proceedings Paper

A vision calibration method for free-form surface polishing robot
Author(s): Zhaojun Yang; Fei Chen; Ji Zhao; Hongwei Zhao
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Paper Abstract

An improved vision calibration method based on free-form surface polishing robot was presented in this paper. Contrary to the classical non-linear photogrammetric approach, the proposed technique can correctly find the solution without the stereo calibration pattern. In this method, a more comprehensive camera model was adopted which based on the pinhole model, extended with radial distortions, decentering distortion and thin prism distortions correction. Take over twenty images of the model plane under different orientations by moving the plane and then detect the corner points in the image, and all intrinsic parameters and extrinsic parameters solving by optimization methods. Real data have been used to test the proposed method and the good results have been obtained. In the process of calibration, calibration precision is improved by freely moving the planar pattern in the space. The excellent performance of the proposed technique, such as convergence, accuracy and robustness, was demonstrated.

Paper Details

Date Published: 31 December 2008
PDF: 6 pages
Proc. SPIE 7130, Fourth International Symposium on Precision Mechanical Measurements, 71300G (31 December 2008); doi: 10.1117/12.819552
Show Author Affiliations
Zhaojun Yang, Jilin Univ. (China)
Fei Chen, Jilin Univ. (China)
Ji Zhao, Jilin Univ. (China)
Hongwei Zhao, Jilin Univ. (China)

Published in SPIE Proceedings Vol. 7130:
Fourth International Symposium on Precision Mechanical Measurements
Yetai Fei; Kuang-Chao Fan; Rongsheng Lu, Editor(s)

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