Abstract
A three-dimensional (3D)-virtual calibration and visual servo are implemented for augmented reality (AR)-assisted peg-in-hole microassembly operations. By employing 3D model and ray casting, the 3D coordinates on virtual mating rod correspondent to the two-dimensional (2D) virtual image points are extracted. The detecting and tracking of image feature points for calibration is carried out by the proposed algorithm of regional template matching (TM) and scanning with edge fitting (RTM-SEF). For achieving subpixel error between the feature points in real and virtual images, a coarse-fine virtual calibration method is proposed. In regard to the image viewed by the real and virtual cameras, a calibrated virtual camera is utilized to track the mating rod. A visual servo control law including coarse and fine tuning is proposed to ensure sub-pixel error between the most important feature point in the real and virtual images. The AR technology is mainly employed in the alignment between micropeg and mating hole for inserting a micropeg of diameter 80 lm with length 1-1.4mm into a mating rod with 100 lm hole.
| Original language | English |
|---|---|
| Article number | 041002 |
| Journal | Journal of Micro and Nano-Manufacturing |
| Volume | 6 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 2018 Dec 1 |
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All Science Journal Classification (ASJC) codes
- Mechanics of Materials
- Process Chemistry and Technology
- Industrial and Manufacturing Engineering
Cite this
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Model-based coarse-fine virtual calibration and visual servo for augmented reality- assisted peg-in-hole microassembly. / Chang, Ren-Jung; Liu, Jun Fu.
In: Journal of Micro and Nano-Manufacturing, Vol. 6, No. 4, 041002, 01.12.2018.Research output: Contribution to journal › Article
TY - JOUR
T1 - Model-based coarse-fine virtual calibration and visual servo for augmented reality- assisted peg-in-hole microassembly
AU - Chang, Ren-Jung
AU - Liu, Jun Fu
PY - 2018/12/1
Y1 - 2018/12/1
N2 - A three-dimensional (3D)-virtual calibration and visual servo are implemented for augmented reality (AR)-assisted peg-in-hole microassembly operations. By employing 3D model and ray casting, the 3D coordinates on virtual mating rod correspondent to the two-dimensional (2D) virtual image points are extracted. The detecting and tracking of image feature points for calibration is carried out by the proposed algorithm of regional template matching (TM) and scanning with edge fitting (RTM-SEF). For achieving subpixel error between the feature points in real and virtual images, a coarse-fine virtual calibration method is proposed. In regard to the image viewed by the real and virtual cameras, a calibrated virtual camera is utilized to track the mating rod. A visual servo control law including coarse and fine tuning is proposed to ensure sub-pixel error between the most important feature point in the real and virtual images. The AR technology is mainly employed in the alignment between micropeg and mating hole for inserting a micropeg of diameter 80 lm with length 1-1.4mm into a mating rod with 100 lm hole.
AB - A three-dimensional (3D)-virtual calibration and visual servo are implemented for augmented reality (AR)-assisted peg-in-hole microassembly operations. By employing 3D model and ray casting, the 3D coordinates on virtual mating rod correspondent to the two-dimensional (2D) virtual image points are extracted. The detecting and tracking of image feature points for calibration is carried out by the proposed algorithm of regional template matching (TM) and scanning with edge fitting (RTM-SEF). For achieving subpixel error between the feature points in real and virtual images, a coarse-fine virtual calibration method is proposed. In regard to the image viewed by the real and virtual cameras, a calibrated virtual camera is utilized to track the mating rod. A visual servo control law including coarse and fine tuning is proposed to ensure sub-pixel error between the most important feature point in the real and virtual images. The AR technology is mainly employed in the alignment between micropeg and mating hole for inserting a micropeg of diameter 80 lm with length 1-1.4mm into a mating rod with 100 lm hole.
UR - http://www.scopus.com/inward/record.url?scp=85055737216&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85055737216&partnerID=8YFLogxK
U2 - 10.1115/1.4041531
DO - 10.1115/1.4041531
M3 - Article
VL - 6
JO - Journal of Micro and Nano-Manufacturing
JF - Journal of Micro and Nano-Manufacturing
SN - 2166-0468
IS - 4
M1 - 041002
ER -