Nothing Special   »   [go: up one dir, main page]

Xu et al., 2022 - Google Patents

A fast and straightforward hand-eye calibration method using stereo camera

Xu et al., 2022

Document ID
4615285528554236140
Author
Xu D
Wang C
Tong Y
Dong X
Huo L
Li Y
Zhang Q
Feng X
Publication year
Publication venue
2022 7th International Conference on Automation, Control and Robotics Engineering (CACRE)

External Links

Snippet

Robot hand-eye calibration is crucial for a robot to transform the target 3D position from the camera coordinate system into the robot coordinate system. The conventional method is to use a single-lens camera and calibration board and then solve the AX= XB problem …
Continue reading at ieeexplore.ieee.org (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06F—ELECTRICAL DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements

Similar Documents

Publication Publication Date Title
US10946515B2 (en) Deep machine learning methods and apparatus for robotic grasping
US10639792B2 (en) Deep machine learning methods and apparatus for robotic grasping
Chaumette et al. Visual servo control. I. Basic approaches
JP6180086B2 (en) Information processing apparatus and information processing method
JP5839971B2 (en) Information processing apparatus, information processing method, and program
Siradjuddin et al. A position based visual tracking system for a 7 DOF robot manipulator using a Kinect camera
CN111801198A (en) Hand-eye calibration method, system and computer storage medium
CN107300100B (en) A kind of tandem type mechanical arm vision guide approach method of Online CA D model-driven
CN113379849A (en) Robot autonomous recognition intelligent grabbing method and system based on depth camera
WO2020190166A1 (en) Method and system for grasping an object by means of a robotic device
Taryudi et al. Eye to hand calibration using ANFIS for stereo vision-based object manipulation system
CN114310901B (en) Coordinate system calibration method, device, system and medium for robot
Sokolov et al. Analysis of ROS-based Visual and Lidar Odometry for a Teleoperated Crawler-type Robot in Indoor Environment.
CN115070781A (en) Object grabbing method and two-mechanical-arm cooperation system
CN109900251A (en) A kind of robotic positioning device and method of view-based access control model technology
Ruan et al. Feature-based autonomous target recognition and grasping of industrial robots
Zhou et al. 3d pose estimation of robot arm with rgb images based on deep learning
Xu et al. A fast and straightforward hand-eye calibration method using stereo camera
CN109542094B (en) Mobile robot vision stabilization control without desired images
Chen et al. Stereo-based 3D localization for grasping known objects with a robotic arm system
Chang Binocular vision-based 3-D trajectory following for autonomous robotic manipulation
Lin et al. Cloud robotic grasping of Gaussian mixture model based on point cloud projection under occlusion
Solvang et al. Robot programming in machining operations
Sun et al. Precise grabbing of overlapping objects system based on end-to-end deep neural network
Shi et al. An approach to improve online hand-eye calibration