제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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- Pages.832-836
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- 1988
3-D position estimation for eye-in-hand robot vision
- Jang, Won (Dept. of EE. KAIST) ;
- Kim, Kyung-Jin (Dept. of EE. KAIST) ;
- Chung, Myung-Jin (Dept. of EE. KAIST) ;
- ZeungnamBien (Dept. of EE. KAIST)
- 발행 : 1988.10.01
초록
"Motion Stereo" is quite useful for visual guidance of the robot, but most range finding algorithms of motion stereo have suffered from poor accuracy due to the quantization noise and measurement error. In this paper, 3-D position estimation and refinement scheme is proposed, and its performance is discussed. The main concept of the approach is to consider the entire frame sequence at the same time rather than to consider the sequence as a pair of images. The experiments using real images have been performed under following conditions : hand-held camera, static object. The result demonstrate that the proposed nonlinear least-square estimation scheme provides reliable and fairly accurate 3-D position information for vision-based position control of robot. of robot.
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