抄録
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.
本文言語 | English |
---|---|
ページ(範囲) | 561-567 |
ページ数 | 7 |
ジャーナル | ieej transactions on industry applications |
巻 | 125 |
号 | 6 |
DOI | |
出版ステータス | Published - 2005 9月 1 |
ASJC Scopus subject areas
- 産業および生産工学
- 電子工学および電気工学