Monocular Camera Calibration Method for Robot System

Huang, Li; Li, Wen Guo; Yang, Qi; Chen, Ying Chun

doi:10.4028/www.scientific.net/amm.741.697

Cited by 2 publications

(2 citation statements)

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“…Similar to example 1, the desired path is planned as starting at (7,7,7) and ending at (8, 10, 5) cm, and the path is generated by using the quintic polynomials as (25). Besides, the fifth axis rotates clockwise from 10 to 30 degrees after 5 seconds from the starting time, and the gap of the gripper is closed from 4 to 0 cm after 10 seconds from the starting time.…”

Section: E Examplementioning

confidence: 99%

“…Larouche and Zhu [6] investigated an eye-in-hand robot manipulator to autonomously capture a mobile object in 3D space using predictive control, and the online target estimation is achieved by using the Kalman filter. Huang et al [7] presented a monocular camera calibration method by using a circular array and applied the method to a robot system. Boby and Saha [8] proposed a method to measure the pose of an industrial robot by using a single image from an un-calibrated camera and to determine the camera internal parameters, and this method is based on an eye-in-hand technique and uses a calibration grid.…”

Section: Introductionmentioning

confidence: 99%

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Pose Determination of a Robot Manipulator Based on Monocular Vision

Kuo

Liu

2016

IEEE Access

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This paper presents an approach to determine the pose of a robot manipulator by using a single fixed camera. Conventionally, the pose determination is usually achieved by using the encoders to sense the joint angles, and then the pose of the end effector is obtained by using the direct kinematics of the manipulator. However, when the encoders or the manipulators are malfunctioning, the pose may not be accurately determined. This paper presents an approach based on machine vision, where a single camera is fixed away from the base of the manipulator. Besides, based on the kinematics of the manipulator and a calibrated camera, the pose of the manipulator can be determined. Furthermore, a graphical user interface is developed, which is convenient for users to operate the entire system. Two examples are demonstrated, and the estimated results are compared with those from the encoders. The proposed approach does not compete with the encoders. Instead, the approach can be treated as a backup method, which can provide a reference solution.INDEX TERMS Pose determination, robot manipulator, monocular vision.

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Section: E Examplementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Pose Determination of a Robot Manipulator Based on Monocular Vision

Kuo

Liu

2016

IEEE Access

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Round fruit picking system based on machine vision

Fang,

Zhu,

et al. 2024

J. Phys.: Conf. Ser.

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Traditional fruit quality selection mainly relies on manual labor, which is costly and time-consuming, and the results are difficult to meet the accuracy requirements. To solve this problem, this paper proposes a fruit-picking system based on machine vision technology using MATLAB as a software tool. It takes round fruits as the research object, introducing Zhang’s camera calibration method, making the target picture reach the ideal state through image pre-processing, such as edging processing, filtering and denoising, binary processing, size eigenvalue extraction, etc. Then, the fruit size grade is evaluated by using the Sobel edge detection algorithm. The fruit color grade is evaluated using the HSV detection algorithm to assess the fruit color grade, and a feature extraction method is used to assess the relative score of the defect degree. Finally, a weighted composite score is used to evaluate the fruit quality grade. This paper also designed a visualized GUI interface. The results prove that the system can accurately and quickly perform fruit selection and quality rating.

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Monocular Camera Calibration Method for Robot System

Cited by 2 publications

References 1 publication

Pose Determination of a Robot Manipulator Based on Monocular Vision

Pose Determination of a Robot Manipulator Based on Monocular Vision

Round fruit picking system based on machine vision

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