Determining robot location using common conic objects

Jiann Der Lee, Chin-Hsing Chen, Jau Yien Lee

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a new approach to the determination of robot location using the common conic object is proposed. Here, the common conic object includes any object that has a conic cylindrical portion, such as cylinders or elliptic cylinders etc.. Such objects are frequently seen in real environment. The solution provided by this approach can be computed analytically. This merit make the proposed approach more practical for general applications than other approaches requiring iterating computation. From a monocular image of the object, image processing and numerical analysis techniques are applied to extract the projection characteristics of the conic cylindrical portion of the object, from which the position and the rotation parameters of a camera-mounted robot can be determined. Experimental results with mean errors less than 5% prove the feasibility of the proposed approach.

Original languageEnglish
Title of host publicationIEEE International Workshop on Emerging Technologies and Factory Automation
Subtitle of host publicationTechnology for the Intelligent Factory - Proceedings, ETFA 1992
EditorsR. Zurawski, T.S. Dillon
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages381-385
Number of pages5
ISBN (Electronic)0780308867
DOIs
Publication statusPublished - 1992 Jan 1
Event1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992 - Melbourne, Australia
Duration: 1992 Aug 111992 Aug 14

Publication series

NameIEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Volume1992-August
ISSN (Print)1946-0740
ISSN (Electronic)1946-0759

Conference

Conference1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992
CountryAustralia
CityMelbourne
Period92-08-1192-08-14

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Computer Science Applications

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