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Conference Paper: Multi-sensor fusion scheme for calibration-free stereo vision in a manufacturing workcell

TitleMulti-sensor fusion scheme for calibration-free stereo vision in a manufacturing workcell
Authors
Issue Date1996
Citation
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 1996, p. 416-423 How to Cite?
AbstractThis paper discusses the subject of detecting the position and orientation of a moving part, which is placed randomly on a rotating disc conveyor in a manufacturing workcell. Two major difficulties of applying machine vision based technology are the requirement of precise system calibration and processing speed. In this paper, a new multi-sensor fusion scheme is introduced to overcome these difficulties. Firstly, a new algorithm is developed for a calibration-free stereo vision system to determine the relative position and orientation of the part with respect to the disc conveyor. Secondly, a novel multi-sensor fusion approach is introduced, which integrates information from the visual sensors and encoder measurements on the rotating disk so that the task space position and orientation of the part can be determined. Finally, a `parallel-guided' tracking scheme is implemented for planning and control of a robotic manipulator in order to track and grasp the moving part. The experimental results clearly demonstrate the advantages of the proposed scheme.
Persistent Identifierhttp://hdl.handle.net/10722/212678

 

DC FieldValueLanguage
dc.contributor.authorTarn, Tzyh Jong-
dc.contributor.authorSong, Mumin-
dc.contributor.authorXi, Ning-
dc.contributor.authorGhosh, Bijoy K.-
dc.date.accessioned2015-07-28T04:04:40Z-
dc.date.available2015-07-28T04:04:40Z-
dc.date.issued1996-
dc.identifier.citationIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 1996, p. 416-423-
dc.identifier.urihttp://hdl.handle.net/10722/212678-
dc.description.abstractThis paper discusses the subject of detecting the position and orientation of a moving part, which is placed randomly on a rotating disc conveyor in a manufacturing workcell. Two major difficulties of applying machine vision based technology are the requirement of precise system calibration and processing speed. In this paper, a new multi-sensor fusion scheme is introduced to overcome these difficulties. Firstly, a new algorithm is developed for a calibration-free stereo vision system to determine the relative position and orientation of the part with respect to the disc conveyor. Secondly, a novel multi-sensor fusion approach is introduced, which integrates information from the visual sensors and encoder measurements on the rotating disk so that the task space position and orientation of the part can be determined. Finally, a `parallel-guided' tracking scheme is implemented for planning and control of a robotic manipulator in order to track and grasp the moving part. The experimental results clearly demonstrate the advantages of the proposed scheme.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems-
dc.titleMulti-sensor fusion scheme for calibration-free stereo vision in a manufacturing workcell-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0030411524-
dc.identifier.spage416-
dc.identifier.epage423-

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