Model-based coarse-fine virtual calibration and visual servo for augmented reality- assisted peg-in-hole microassembly

Ren-Jung Chang, Jun Fu Liu

Research output: Contribution to journalArticle

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 languageEnglish
Article number041002
JournalJournal of Micro and Nano-Manufacturing
Volume6
Issue number4
DOIs
Publication statusPublished - 2018 Dec 1

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Augmented reality
Calibration
Cameras
Resin transfer molding
Template matching
Casting
Tuning
Pixels
Scanning

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Process Chemistry and Technology
  • Industrial and Manufacturing Engineering

Cite this

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title = "Model-based coarse-fine virtual calibration and visual servo for augmented reality- assisted peg-in-hole microassembly",
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.",
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