Line-feature-based calibration method of structured light plane parameters for robot hand-eye system

Yuhan Qi; Fengshui Jing; Min Tan

doi:10.1117/1.OE.52.3.037202

4 March 2013 Line-feature-based calibration method of structured light plane parameters for robot hand-eye system

Yuhan Qi, Fengshui Jing, Min Tan

Author Affiliations +

Optical Engineering, Vol. 52, Issue 3, 037202 (March 2013). https://doi.org/10.1117/1.OE.52.3.037202

Abstract

For monocular-structured light vision measurement, it is essential to calibrate the structured light plane parameters in addition to the camera intrinsic parameters. A line-feature-based calibration method of structured light plane parameters for a robot hand-eye system is proposed. Structured light stripes are selected as calibrating primitive elements, and the robot moves from one calibrating position to another with constraint in order that two misaligned stripe lines are generated. The images of stripe lines could then be captured by the camera fixed at the robot’s end link. During calibration, the equations of two stripe lines in the camera coordinate system are calculated, and then the structured light plane could be determined. As the robot’s motion may affect the effectiveness of calibration, so the robot’s motion constraints are analyzed. A calibration experiment and two vision measurement experiments are implemented, and the results reveal that the calibration accuracy can meet the precision requirement of robot thick plate welding. Finally, analysis and discussion are provided to illustrate that the method has a high efficiency fit for industrial in-situ calibration.

Citation Download Citation

Yuhan Qi, Fengshui Jing, and Min Tan "Line-feature-based calibration method of structured light plane parameters for robot hand-eye system," Optical Engineering 52(3), 037202 (4 March 2013). https://doi.org/10.1117/1.OE.52.3.037202

Published: 4 March 2013

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available