A robot vision system with hand held stereo cameras for applications in engine exhaustion

被引:0
|
作者
Brockers, R [1 ]
Stemmer, R [1 ]
Drüe, S [1 ]
Hartmann, G [1 ]
机构
[1] Univ Paderborn, Heinz Nixdorf Inst, Dept Elect Engn, D-33098 Paderborn, Germany
来源
CISST'2000: PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON IMAGING SCIENCE, SYSTEMS, AND TECHNOLOGY, VOLS I AND II | 2000年
关键词
stereo vision; contour based recognition; robot vision; autonomous robot; robotic application;
D O I
暂无
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
In this work a new robot vision system is presented with a movable stereo camera pair mounted at a robot's hand. The vision system can be moved to different positions for varying views by the robot. Even with cameras with static parameters a course-to-fine strategy for object recognition and pose measurement is practicable in this way. Another advantage of this approach is that the vision, system acts as an input sensor for both the recognition process and the position recovery. So in this application a computational expensive data fusion and the calibration of different sensors is not necessary. Due to the complex 3D structure of the scent a new stereo algorithm with implicit detection of occlusions is integrated in the system. The complete system has been successfully tested for the task of automatic drying up a small engine.
引用
收藏
页码:123 / 129
页数:7
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