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Conference Paper: Calibration of robotic area sensing system for dimensional measurement of automotive part surfaces

TitleCalibration of robotic area sensing system for dimensional measurement of automotive part surfaces
Authors
KeywordsAutomated dimensional measurement system
Calibration
Sensor planning
Area sensor
Issue Date2005
Citation
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2005, p. 3898-3903 How to Cite?
AbstractThis paper presents new calibration methods for a robotic area sensing system developed for industrial manufacturing inspection. A pixel-to-pixel calibration scheme is introduced to obtain standoff and baseline distance of the developed area sensor. In the three-dimensional (3D) space, the area sensor also has an offset angle in a plane parallel to the reference plane. Calibration of this offset angle improves the measurement accuracy. This pixel-to-pixel scheme is particularly useful for calibrating a 3D optical area sensor with off-the-shelf lenses. An exploding vector method was also developed to transform the measured depth map to a 3D point cloud. A robotic area sensing system was developed by integrating an area sensor prototype and a robot sensor planning system. Calibration of the integrated system includes robot calibration, part calibration, and robot hand-eye calibration. Calibration error of the robot system is related to the area sensor positioning accuracy in the robotic system. Experimental results show a successful practice of the developed robotic area sensing system. Measurement performance of the developed system can be improved if advanced lenses are adopted. © 2005 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/212887

 

DC FieldValueLanguage
dc.contributor.authorShi, Quan-
dc.contributor.authorXi, Ning-
dc.contributor.authorChen, Heping-
dc.contributor.authorChen, Yifan-
dc.date.accessioned2015-07-28T04:05:20Z-
dc.date.available2015-07-28T04:05:20Z-
dc.date.issued2005-
dc.identifier.citation2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2005, p. 3898-3903-
dc.identifier.urihttp://hdl.handle.net/10722/212887-
dc.description.abstractThis paper presents new calibration methods for a robotic area sensing system developed for industrial manufacturing inspection. A pixel-to-pixel calibration scheme is introduced to obtain standoff and baseline distance of the developed area sensor. In the three-dimensional (3D) space, the area sensor also has an offset angle in a plane parallel to the reference plane. Calibration of this offset angle improves the measurement accuracy. This pixel-to-pixel scheme is particularly useful for calibrating a 3D optical area sensor with off-the-shelf lenses. An exploding vector method was also developed to transform the measured depth map to a 3D point cloud. A robotic area sensing system was developed by integrating an area sensor prototype and a robot sensor planning system. Calibration of the integrated system includes robot calibration, part calibration, and robot hand-eye calibration. Calibration error of the robot system is related to the area sensor positioning accuracy in the robotic system. Experimental results show a successful practice of the developed robotic area sensing system. Measurement performance of the developed system can be improved if advanced lenses are adopted. © 2005 IEEE.-
dc.languageeng-
dc.relation.ispartof2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS-
dc.subjectAutomated dimensional measurement system-
dc.subjectCalibration-
dc.subjectSensor planning-
dc.subjectArea sensor-
dc.titleCalibration of robotic area sensing system for dimensional measurement of automotive part surfaces-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/IROS.2005.1545577-
dc.identifier.scopuseid_2-s2.0-33845615304-
dc.identifier.spage3898-
dc.identifier.epage3903-

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