Acta Optica Sinica, Volume. 38, Issue 8, 0815012(2018)
Large Field of View Vision Method for Robot Pose Measurement Based on Zoom Lens
Figures & Tables(11)
Fig. 4. Superposition of target and template images. (a) IC; (b) IA; (c) ID1; (d) IC; (e) IB; (f) ID2
Fig. 6. Mean error of single point pose. (a) Mean position error of zoom 10; (b) mean orientation error of zoom 10; (c) mean position error of zoom 60; (d) mean orientation error of zoom 60
Fig. 7. Line position measurement. (a) Data of line measurement with zoom lens; (b) depth error distribution and united camera coordinate system
Fig. 8. Robot pose measurement experiment. (a) Schematic of system; (b) experiment setup
Fig. 9. Experiment of robot's pose precision. (a) Tracking path with zoom lens; (b) tracking path with C-Track; (c) tracking error comparison
Fig. 10. Large range zoom tracking experiments. (a) Linear motion in depth direction; (b) complex space motion
Table 1. Root mean square error of single point measurement
View tableTable 1. Root mean square error of single point measurement
Zoom ( i /i max)x /μmy /μmz /μmΘx /(10-3 rad)Θy /(10-3 rad)Θz /(10-3 rad)1/10 9.81 8.37 20.9 0.325 0.237 0.351 2/10 2.41 3.68 34.2 0.885 0.048 0.614 3/10 1.58 2.84 31.6 0.632 0.060 0.680 4/10 2.57 3.80 48.2 0.697 0.060 0.915 5/10 4.74 12.5 109 0.928 0.1 1.56 6/10 2.50 3.90 100 3.29 0.079 2.16 7/10 16.4 13.1 252 4.16 0.118 5.72 8/10 35.1 32.5 1077 5.04 0.134 5.59
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Tao Jiang, Xiaosheng Cheng, Haihua Cui, Wei Tian. Large Field of View Vision Method for Robot Pose Measurement Based on Zoom Lens[J]. Acta Optica Sinica, 2018, 38(8): 0815012
Paper Information
Category: Machine Vision
Received: Feb. 8, 2018
Accepted: Apr. 9, 2018
Published Online: Sep. 6, 2018
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