Correction of image coordinate using landmark for setting error
Correction of image coordinate using landmark for setting error
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DOI：
10.1109/iecon.2009.5414651
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发表时间：
2009-11
期刊：
影响因子：
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通讯作者：
N. Tsujiuchi;T. Koizumi;Kazuto Kayamoto;H. Oshima;Yoichiro Nakamura;M. Hirano
中科院分区：
文献类型：
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作者：
N. Tsujiuchi;T. Koizumi;Kazuto Kayamoto;H. Oshima;Yoichiro Nakamura;M. Hirano
近年来，生产方式已经从大规模生产的价值观多样化转变为生产现场的多类型和小批量生产。因此，需要一个能够适应环境变化的生产系统。在一个执行搬运任务的生产系统中，我们使用了一个带有摄像机和机械手的手眼系统，并将摄像机获得的二维图像与手眼系统中的三维系统中的机械手坐标进行手眼校准。然而，在以前的系统中，相机和机械手的位置发生了变化，并且即使在误差很小的情况下，也会引起来自执行校准的位置的很大误差。因此，在这种手眼系统中，改变这种生产系统是困难的，或者需要重新校准。必须计算投影矩阵，使得利用相机获得的图像坐标和三维的操纵器坐标在重新校准中再次对应。然而，计算投影矩阵需要非常小心。我们提出了一种技术，简单地计算三维图像坐标的机械手坐标，而无需通过校正图像坐标再次计算投影矩阵。我们的实验结果表明，图像的坐标可以被校正，而无需使用地标再次计算投影矩阵。此外，还简单地纠正了三维位置，我们就能够处理该物体了。
In recently years, the production method has changed from the diversification of a sense of values from mass production to diverse-types-and-small-quantity production on the production site. Therefore, a productive system that can correspond to changes in the environment is required. In a productive system that performs handling tasks, we use a hand-eye system with a camera and a manipulator and perform hand-eye calibration from two dimension images obtained by camera to the manipulator coordinates a three dimension system of in the hand-eye system. However, the camera and the manipulator positions in the previous system changed, and great error from the position, which performed the calibration, was caused even when the error was minute. Therefore, in this hand-eye system, changing this production system is difficult or re-calibration is needed. The projection matrix must be calculated so that the image coordinates obtained with the camera and the manipulator coordinates of three dimensions correspond again in the re-calibration. However, calculating the projection matrix requires great care. We propose a technique that simply calculates the manipulator coordinates of three dimensions from image coordinates without calculating the projection matrix again by correcting the image coordinates. Our experiment results show that the image coordinates can be corrected without calculating the projection matrix again using a landmark. In addition, a three-dimensional position was corrected simply, and we were able to handle the object.