Improvement of geometric calibration algorithm with collinear constraints

2019 ◽  
Author(s):  
Weidong Qiao ◽  
Jianfeng Yang ◽  
Bin Xue ◽  
Zhao Guan ◽  
Baogang Lv ◽  
...  
Keyword(s):  
Geometric Calibration ◽  
Calibration Algorithm

scholarly journals A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to Rehabilitation

2019 ◽  
Vol 9 (11) ◽  
pp. 2182 ◽  
Author(s):  
Han Yuan ◽  
Xianghui You ◽  
Yongqing Zhang ◽  
Wenjing Zhang ◽  
Wenfu Xu
Keyword(s):  
Calibration Method ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Human Robot Interaction ◽  
Automatic Calibration ◽  
Unknown Parameters ◽  
Robot Interaction ◽  
Geometric Calibration ◽  
Rehabilitation Robots ◽  
Calibration Algorithm

Cable-driven parallel robots are suitable candidates for rehabilitation due to their intrinsic flexibility and adaptability, especially considering the safety of human–robot interaction. However, there are still some challenges to apply cable-driven parallel robots to rehabilitation, one of which is the geometric calibration. This paper proposes a new automatic calibration method that is applicable for cable-driven parallel rehabilitation robots. The key point of this method is to establish the mapping between the unknown parameters to be calibrated and the parameters that could be measured by the inner sensors and then use least squares algorithm to find the solutions. Specifically, the unknown parameters herein are the coordinates of the attachment points, and the measured parameters are the lengths of the redundant cables. Simulations are performed on a 3-DOF parallel robot driven by four cables for validation. Results show that the proposed calibration method could precisely find the real coordinate values of the attachment points, with errors less than 10 − 12 mm. Trajectory simulations also indicate that the positioning accuracy of the cable-driven parallel robot (CDPR) could be greatly improved after calibration using the proposed method.

Geometric calibration algorithm of polarization camera using planar patterns

2017 ◽  
Vol 22 (1) ◽  
pp. 55-59 ◽  
Author(s):  
Yujie Wang ◽  
Xiaoping Hu ◽  
Junxiang Lian ◽  
Lilian Zhang ◽  
Xiaofeng He ◽  
...  
Keyword(s):  
Geometric Calibration ◽  
Calibration Algorithm ◽  
Polarization Camera

scholarly journals Minimization of the Line Resistance Impact on Memdiode-Based Simulations of Multilayer Perceptron Arrays Applied to Pattern Recognition

2021 ◽  
Vol 11 (1) ◽  
pp. 9
Author(s):  
Fernando Leonel Aguirre ◽  
Nicolás M. Gomez ◽  
Sebastián Matías Pazos ◽  
Félix Palumbo ◽  
Jordi Suñé ◽  
...  
Keyword(s):  
Pattern Recognition ◽  
Ex Situ ◽  
Multilayer Perceptrons ◽  
Spice Simulation ◽  
Large Dataset ◽  
High Line ◽  
Calibration Algorithm ◽  
The Impact ◽  
Line Resistance

In this paper, we extend the application of the Quasi-Static Memdiode model to the realistic SPICE simulation of memristor-based single (SLPs) and multilayer perceptrons (MLPs) intended for large dataset pattern recognition. By considering ex-situ training and the classification of the hand-written characters of the MNIST database, we evaluate the degradation of the inference accuracy due to the interconnection resistances for MLPs involving up to three hidden neural layers. Two approaches to reduce the impact of the line resistance are considered and implemented in our simulations, they are the inclusion of an iterative calibration algorithm and the partitioning of the synaptic layers into smaller blocks. The obtained results indicate that MLPs are more sensitive to the line resistance effect than SLPs and that partitioning is the most effective way to minimize the impact of high line resistance values.

scholarly journals A UWB-Driven Self-Actuated Projector Platform for Interactive Augmented Reality Applications

2021 ◽  
Vol 11 (6) ◽  
pp. 2871
Author(s):  
Ahmed Elsharkawy ◽  
Khawar Naheem ◽  
Dongwoo Koo ◽  
Mun Sang Kim
Keyword(s):  
Augmented Reality ◽  
Interaction Design ◽  
Rapid Development ◽  
Interactive Technology ◽  
Ultra Wideband ◽  
Wireless Sensor ◽  
Interactive System ◽  
Input Device ◽  
Reasonable Accuracy ◽  
Calibration Algorithm

With the rapid development of interactive technology, creating systems that allow users to define their interactive envelope freely and provide multi-interactive modalities is important to build up an intuitive interactive space. We present an indoor interactive system where a human can customize and interact through a projected screen utilizing the surrounding surfaces. An ultra-wideband (UWB) wireless sensor network was used to assist human-centered interaction design and navigate the self-actuated projector platform. We developed a UWB-based calibration algorithm to facilitate the interaction with the customized projected screens, where a hand-held input device was designed to perform mid-air interactive functions. Sixteen participants were recruited to evaluate the system performance. A prototype level implementation was tested inside a simulated museum environment, where a self-actuated projector provides interactive explanatory content for the on-display artifacts under the user’s command. Our results depict the applicability to designate the interactive screen efficiently indoors and interact with the augmented content with reasonable accuracy and relatively low workload. Our findings also provide valuable user experience information regarding the design of mobile and projection-based augmented reality systems, with the ability to overcome the limitations of other conventional techniques.

scholarly journals Calibration of Dual Industrial Robot System Based on Hand-Eye Calibration Algorithm

2021 ◽  
Vol 1939 (1) ◽  
pp. 012027
Author(s):  
Jingsen Jin ◽  
Weidong Hao ◽  
Daoguo Yang ◽  
Zhaoquan Tan ◽  
Chuan Zheng
Keyword(s):  
Industrial Robot ◽  
Robot System ◽  
Calibration Algorithm
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