Determining robot location using common conic objects

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

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題IEEE International Workshop on Emerging Technologies and Factory Automation
主出版物子標題Technology for the Intelligent Factory - Proceedings, ETFA 1992
編輯R. Zurawski, T.S. Dillon
發行者Institute of Electrical and Electronics Engineers Inc.
頁面381-385
頁數5
ISBN(電子)0780308867
DOIs
出版狀態Published - 1992 一月 1
事件1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992 - Melbourne, Australia
持續時間: 1992 八月 111992 八月 14

出版系列

名字IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
1992-August
ISSN(列印)1946-0740
ISSN(電子)1946-0759

Conference

Conference1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992
國家Australia
城市Melbourne
期間92-08-1192-08-14

指紋

Robots
Numerical analysis
Image processing
Cameras

All Science Journal Classification (ASJC) codes

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

引用此文

Lee, J. D., Chen, C-H., & Lee, J. Y. (1992). Determining robot location using common conic objects. 於 R. Zurawski, & T. S. Dillon (編輯), IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992 (頁 381-385). [683284] (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; 卷 1992-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ETFA.1992.683284
Lee, Jiann Der ; Chen, Chin-Hsing ; Lee, Jau Yien. / Determining robot location using common conic objects. IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992. 編輯 / R. Zurawski ; T.S. Dillon. Institute of Electrical and Electronics Engineers Inc., 1992. 頁 381-385 (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA).
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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.",
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Lee, JD, Chen, C-H & Lee, JY 1992, Determining robot location using common conic objects. 於 R Zurawski & TS Dillon (編輯), IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992., 683284, IEEE International Conference on Emerging Technologies and Factory Automation, ETFA, 卷 1992-August, Institute of Electrical and Electronics Engineers Inc., 頁 381-385, 1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992, Melbourne, Australia, 92-08-11. https://doi.org/10.1109/ETFA.1992.683284

Determining robot location using common conic objects. / Lee, Jiann Der; Chen, Chin-Hsing; Lee, Jau Yien.

IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992. 編輯 / R. Zurawski; T.S. Dillon. Institute of Electrical and Electronics Engineers Inc., 1992. p. 381-385 683284 (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; 卷 1992-August).

研究成果: Conference contribution

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Lee JD, Chen C-H, Lee JY. Determining robot location using common conic objects. 於 Zurawski R, Dillon TS, 編輯, IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992. Institute of Electrical and Electronics Engineers Inc. 1992. p. 381-385. 683284. (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA). https://doi.org/10.1109/ETFA.1992.683284