scholarly journals Precise calibration of binocular vision system used for vision measurement

2014 ◽  
Vol 22 (8) ◽  
pp. 9134 ◽  
Author(s):  
Yi Cui ◽  
Fuqiang Zhou ◽  
Yexin Wang ◽  
Liu Liu ◽  
He Gao
Keyword(s):  
Binocular Vision ◽  
Vision System ◽  
Vision Measurement ◽  
Binocular Vision System

Binocular vision-based 3-D trajectory following for autonomous robotic manipulation

Robotica ◽  
2007 ◽  
Vol 25 (5) ◽  
pp. 615-626 ◽  
Author(s):  
Wen-Chung Chang
Keyword(s):  
Binocular Vision ◽  
Visual Servoing ◽  
Vision System ◽  
A Priori ◽  
Robotic Manipulator ◽  
Robotic Manipulation ◽  
Control Approach ◽  
Trajectory Following ◽  
Image Planes ◽  
Binocular Vision System

SUMMARYRobotic manipulators that have interacted with uncalibrated environments typically have limited positioning and tracking capabilities, if control tasks cannot be appropriately encoded using available features in the environments. Specifically, to perform 3-D trajectory following operations employing binocular vision, it seems necessary to have a priori knowledge on pointwise correspondence information between two image planes. However, such an assumption cannot be made for any smooth 3-D trajectories. This paper describes how one might enhance autonomous robotic manipulation for 3-D trajectory following tasks using eye-to-hand binocular visual servoing. Based on a novel encoded error, an image-based feedback control law is proposed without assuming pointwise binocular correspondence information. The proposed control approach can guarantee task precision by employing only an approximately calibrated binocular vision system. The goal of the autonomous task is to drive a tool mounted on the end-effector of the robotic manipulator to follow a visually determined smooth 3-D target trajectory in desired speed with precision. The proposed control architecture is suitable for applications that require precise 3-D positioning and tracking in unknown environments. Our approach is successfully validated in a real task environment by performing experiments with an industrial robotic manipulator.

The Location of Quadruped Robot with Hand-Fused-Foot Based on Binocular Vision

2013 ◽  
Vol 694-697 ◽  
pp. 1925-1930
Author(s):  
Xin Jie Wang ◽  
Zhi Lin Yang ◽  
Jie Liu
Keyword(s):  
Image Processing ◽  
Binocular Vision ◽  
Extraction Method ◽  
Vision System ◽  
Quadruped Robot ◽  
Reference Object ◽  
Single Camera ◽  
Key Technology ◽  
Characteristic Extraction ◽  
Binocular Vision System

Robot location is a key technology of quadruped robot with Hand-fused-Foot. The location method based on binocular vision system is studied for quadruped robot with Hand-fused-Foot. After obtaining image by a single camera, the object is segmented by using characteristic extraction method based on color characteristic. Then image processing such as filtering (de-noising) and opening is performed. The object is identified and its centroid coordinate in image is obtained. Location of robot based on environment reference--object coordinate is achieved. Experiments show the effectiveness and the accuracy (within 4cm) of the method.

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