3D Position Detection of A Moving Object in Active Stereo Vision System with Multi-DOF Motion

Tomoyuki Shiozaki, Toshiyuki Murakami

Research output: Contribution to journalArticle

9 Citations (Scopus)

Abstract

This paper describes a strategy to improve the accuracy of 3D position detection of a moving object. Stereo vision is one of powerful methods to detect a target position. However the measurement accuracy depends on the configuration of a target object and two cameras of vision system. In this case, these exist a camera configuration that enables to improve the measurement accuracy of object position. On the other hand, the camera system requires a multi-DOF motion to realize fast tracking of moving object. To address the above issues, a stereo vision system with multi-DOF motion is developed in this research. The constructed vision system has two hand-eye system that are controlled independently. In the proposed strategy, two performance indices are considered to determine the manipulator motion of hand-eye system. One is camera configuration index to evaluate the performance of the position detection by the stereo vision. The other is a manipulability measure of the manipulator in the hand-eye system. Considering both indices to determine the motion of hand-eye system, the tracking performance of stereo vision system is improved. Numerical and experimental results show the availability of the proposal method.

Original languageEnglish
Pages (from-to)561-567
Number of pages7
JournalIEEJ Transactions on Industry Applications
Volume125
Issue number6
DOIs
Publication statusPublished - 2005 Sep 1

Fingerprint

Stereo vision
Cameras
Manipulators
Availability

Keywords

  • manipulability measure
  • multi-DOF
  • nullspace
  • position detection
  • stereo vision
  • visual servo

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

Cite this

3D Position Detection of A Moving Object in Active Stereo Vision System with Multi-DOF Motion. / Shiozaki, Tomoyuki; Murakami, Toshiyuki.

In: IEEJ Transactions on Industry Applications, Vol. 125, No. 6, 01.09.2005, p. 561-567.

Research output: Contribution to journalArticle

@article{c10efb77df7b465cbcd4d8a2d10fb5dd,
title = "3D Position Detection of A Moving Object in Active Stereo Vision System with Multi-DOF Motion",
abstract = "This paper describes a strategy to improve the accuracy of 3D position detection of a moving object. Stereo vision is one of powerful methods to detect a target position. However the measurement accuracy depends on the configuration of a target object and two cameras of vision system. In this case, these exist a camera configuration that enables to improve the measurement accuracy of object position. On the other hand, the camera system requires a multi-DOF motion to realize fast tracking of moving object. To address the above issues, a stereo vision system with multi-DOF motion is developed in this research. The constructed vision system has two hand-eye system that are controlled independently. In the proposed strategy, two performance indices are considered to determine the manipulator motion of hand-eye system. One is camera configuration index to evaluate the performance of the position detection by the stereo vision. The other is a manipulability measure of the manipulator in the hand-eye system. Considering both indices to determine the motion of hand-eye system, the tracking performance of stereo vision system is improved. Numerical and experimental results show the availability of the proposal method.",
keywords = "manipulability measure, multi-DOF, nullspace, position detection, stereo vision, visual servo",
author = "Tomoyuki Shiozaki and Toshiyuki Murakami",
year = "2005",
month = "9",
day = "1",
doi = "10.1541/ieejias.125.561",
language = "English",
volume = "125",
pages = "561--567",
journal = "IEEJ Transactions on Industry Applications",
issn = "0913-6339",
publisher = "The Institute of Electrical Engineers of Japan",
number = "6",

}

TY - JOUR

T1 - 3D Position Detection of A Moving Object in Active Stereo Vision System with Multi-DOF Motion

AU - Shiozaki, Tomoyuki

AU - Murakami, Toshiyuki

PY - 2005/9/1

Y1 - 2005/9/1

N2 - This paper describes a strategy to improve the accuracy of 3D position detection of a moving object. Stereo vision is one of powerful methods to detect a target position. However the measurement accuracy depends on the configuration of a target object and two cameras of vision system. In this case, these exist a camera configuration that enables to improve the measurement accuracy of object position. On the other hand, the camera system requires a multi-DOF motion to realize fast tracking of moving object. To address the above issues, a stereo vision system with multi-DOF motion is developed in this research. The constructed vision system has two hand-eye system that are controlled independently. In the proposed strategy, two performance indices are considered to determine the manipulator motion of hand-eye system. One is camera configuration index to evaluate the performance of the position detection by the stereo vision. The other is a manipulability measure of the manipulator in the hand-eye system. Considering both indices to determine the motion of hand-eye system, the tracking performance of stereo vision system is improved. Numerical and experimental results show the availability of the proposal method.

AB - This paper describes a strategy to improve the accuracy of 3D position detection of a moving object. Stereo vision is one of powerful methods to detect a target position. However the measurement accuracy depends on the configuration of a target object and two cameras of vision system. In this case, these exist a camera configuration that enables to improve the measurement accuracy of object position. On the other hand, the camera system requires a multi-DOF motion to realize fast tracking of moving object. To address the above issues, a stereo vision system with multi-DOF motion is developed in this research. The constructed vision system has two hand-eye system that are controlled independently. In the proposed strategy, two performance indices are considered to determine the manipulator motion of hand-eye system. One is camera configuration index to evaluate the performance of the position detection by the stereo vision. The other is a manipulability measure of the manipulator in the hand-eye system. Considering both indices to determine the motion of hand-eye system, the tracking performance of stereo vision system is improved. Numerical and experimental results show the availability of the proposal method.

KW - manipulability measure

KW - multi-DOF

KW - nullspace

KW - position detection

KW - stereo vision

KW - visual servo

UR - http://www.scopus.com/inward/record.url?scp=33645075287&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33645075287&partnerID=8YFLogxK

U2 - 10.1541/ieejias.125.561

DO - 10.1541/ieejias.125.561

M3 - Article

AN - SCOPUS:33645075287

VL - 125

SP - 561

EP - 567

JO - IEEJ Transactions on Industry Applications

JF - IEEJ Transactions on Industry Applications

SN - 0913-6339

IS - 6

ER -