TY - JOUR
T1 - Measurement Of 3-d Shape And Position By Fiber Grating Vision Sensor Installed On A Manipulator
AU - Nakazawa, Kazuo
AU - Shimizu, Masayoshi
AU - Yuta, Shin'ichi
AU - Nakajima, Masato
PY - 1988/1/1
Y1 - 1988/1/1
N2 - This paper describes a 3-D shape measurement system equipped with a fiber grating vision sensor which is directly installed on a manipulator, and also describes a method to extract the shape and the position of an object in an unknown position on a working area with this system. This system has low resolution, since the fiber grating is used as a pattern projection device, but this on the other hand shortens the computation time and minimizes the size and weight of the sensor unit. A method for intelligent measurement of 3-D shape and position is described in this paper. First, the whole range data of a working area is obtained by scanning the vision sensor over the area and fitted into a rectangular parallelpiped. Then, measurement view points for the object are determined and the object is measured at each view point. With this data a polyhedral model is built. Last of all, the accuracy of each measured face of the model is examined to see whether it meets the required accuracy. If a face does not meet the requirement, the face has to be measured again. Actual experimental results using a pilot system are presented.
AB - This paper describes a 3-D shape measurement system equipped with a fiber grating vision sensor which is directly installed on a manipulator, and also describes a method to extract the shape and the position of an object in an unknown position on a working area with this system. This system has low resolution, since the fiber grating is used as a pattern projection device, but this on the other hand shortens the computation time and minimizes the size and weight of the sensor unit. A method for intelligent measurement of 3-D shape and position is described in this paper. First, the whole range data of a working area is obtained by scanning the vision sensor over the area and fitted into a rectangular parallelpiped. Then, measurement view points for the object are determined and the object is measured at each view point. With this data a polyhedral model is built. Last of all, the accuracy of each measured face of the model is examined to see whether it meets the required accuracy. If a face does not meet the requirement, the face has to be measured again. Actual experimental results using a pilot system are presented.
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U2 - 10.1109/IROS.1988.593672
DO - 10.1109/IROS.1988.593672
M3 - Conference article
AN - SCOPUS:85013330171
VL - 1988-October
SP - 611
EP - 616
JO - IEEE International Conference on Intelligent Robots and Systems
JF - IEEE International Conference on Intelligent Robots and Systems
SN - 2153-0858
M1 - 593672
T2 - 1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988
Y2 - 31 October 1988 through 2 November 1988
ER -