Building an accurate 3D model of a circular feature for robot vision

• Autorzy: Li L.
• Języki publikacji: EN

Abstrakty

EN

In this paper, an accurate 3D model analysis of a circular feature is built with error compensation for robot vision. We propose an efficient method of fitting ellipses to data points by minimizing the algebraic distance subject to the constraint that a conic should be an ellipse and solving the ellipse parameters through a direct ellipse fitting method by analysing the 3D geometrical representation in a perspective projection scheme, the 3D position of a circular feature with known radius can be obtained. A set of identical circles, machined on a calibration board whose centres were known, was calibrated with a camera and did the model analysis that our method developed. Experimental results show that our method is more accurate than other methods.

Słowa kluczowe

EN

circular feature; detection; 3D model; robot vision

• Wydawca: Stowarzyszenie Elektryków Polskich ; Polska Akademia Nauk ; Wojskowa Akademia Techniczna im. Jarosława Dąbrowskiego
• Czasopismo: Opto-Electronics Review
• Rocznik: 2012
• Tom: Vol. 20, No. 2
• Strony: 120--125
• Opis fizyczny: Bibliogr. 9 poz., il., wykr.

Twórcy

autor

Li L.

• College of Computer Science, Shaanxi Normal University, Xi'an, 710062, China,

Bibliografia

• [1] S. Jung, D. Jang, and M. Kim: 3D localization of projected objects for surveillance. Proc. IEEE Int. Conf. on Distributed Smart Cameras (ICDSC), Como, 1-6 (2009).
• [2] S. Mohan and S. Murali: Automated 3D modelling and rendering from single view images. Proc. IEEE Int. Conf. On Computational Intelligence and Multimedia Applications (ICCIMA), Vol. 4, Sivakasi, 476-480 (2007).
• [3] N. Yamaguchi and H. Mizoguchi: Robot vision to recognize both face and object for human-robot ball playing. Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronic (AIM)s, Vol. 2, Kobe, 999-1004 (2003).
• [4] Q. Chen, H. Wu, and T. Wada: Robot body guided camera calibration using an arbitrary circle. Proc. IEEE Int. Conf. on Image and Graphics (ICIG), Shaanxi, 39-44 (2009).
• [5] F. Da and H. Zhang: Sub-pixel edge detection based on an improved moment. Image Vision Comput. 28, 1645-1658 (2010).
• [6] R. Safaee-Rad, I. Tchoukanov, K. C. Smith, and B. Benhabib: Three-dimensional location estimation of circular features for machine vision. IEEE T. Robotic. Autom. 8, 624-640 (1992).
• [7] D. He and B. Benhabib: Solving the orientation-duality problem for a circular feature in motion. IEEE T. Syst. Man. Cyb. 28, 506-515 (1998).
• [8] P. V. C. Hough: Method and means for recognizing complex patterns. U.S. Patent 3069654, 1962.
• [9] A. Fitzgibbon, M. Pilu, and R. B. Fisher: Direct least square fitting of ellipses. IEEE T. Pattern Anal. 21, 476-480 (1999).