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Precision Pose Measurement of an Object With Flange Based on Shadow Distribution

文献类型：期刊论文

作者Ma, Yanqin1,2; Liu, Xilong1,2; Xu, De1,2
刊名IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
出版日期2020-05-01
卷号69期号:5页码:2003-2015
关键词Microscopic vision optimal model precision assembly pose measurement shadow distribution
ISSN号0018-9456
DOI10.1109/TIM.2019.2922515
通讯作者Xu, De(de.xu@ia.ac.cn)
英文摘要This paper proposes a novel method to achieve pose measurement in 3-D space using a microscopic camera. For an object with flange on its surface, there is a shadow region around the flange in the image if the camera is equipped with a ring light source. The flange's shadow distribution caused by the ring light source is deduced based on imaging principle. An optimal model used to estimate object's pose is designed based on the flange's shadow distribution. Take the objects with circle flange, which are commonly used in precision assembly as an example, the shadow-forming model and the relation between the rotation angle and the shadow width deviation are presented. The rotation axis is determined on the basis of two particular rays on the shadow. Then the object's orientation is computed based on the rotation axis and the rotation angle. A series of simulations and experiments are conducted to verify the high precision of the proposed pose measurement method. The root-mean-square (rms) errors of position and orientation measurement are 6.26 mu m and 0.19 degrees, respectively.
WOS关键词VISION ; CALIBRATION ; IMAGES
资助项目National Key R&D Program of China[2018YFD0400902] ; National Natural Science Foundation of China[61733004] ; National Natural Science Foundation of China[61873266] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61673383] ; Beijing Natural Science Foundation[4161002]
WOS研究方向Engineering ; Instruments & Instrumentation
语种英语
WOS记录号WOS:000528549700015
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Key R&D Program of China ; National Natural Science Foundation of China ; Beijing Natural Science Foundation
源URL[http://ir.ia.ac.cn/handle/173211/39349]  
专题精密感知与控制研究中心_精密感知与控制
通讯作者Xu, De
作者单位1.Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式
GB/T 7714		 Ma, Yanqin,Liu, Xilong,Xu, De. Precision Pose Measurement of an Object With Flange Based on Shadow Distribution[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2020,69(5):2003-2015.
APA Ma, Yanqin,Liu, Xilong,&Xu, De.(2020).Precision Pose Measurement of an Object With Flange Based on Shadow Distribution.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,69(5),2003-2015.
MLA Ma, Yanqin,et al."Precision Pose Measurement of an Object With Flange Based on Shadow Distribution".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 69.5(2020):2003-2015.

入库方式： OAI收割

来源：自动化研究所

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