| SONG Li-mei,WANG Peng-qiang,XI Jiang-tao,GUO Qing-hua,TANG Huan,LI Jing,LI Xiao-jie,ZHU Teng-da.Multi-view coordinate system transformation based on robot[J].Optoelectronics Letters,2015,11(6):473-476 |
| Multi-view coordinate system transformation based on robot |
| Author Name | Affiliation | | SONG Li-mei | Key Laboratory of Advanced Electrical Engineering and Energy Technology, Tianjin Polytechnic University, Tianjin 300387, China | | WANG Peng-qiang | Key Laboratory of Advanced Electrical Engineering and Energy Technology, Tianjin Polytechnic University, Tianjin 300387, China | | XI Jiang-tao | School of Electrical, Computer and Telecommunications Engineering, University of Wollongong, Keiraville 2500, Australia | | GUO Qing-hua | Key Laboratory of Advanced Electrical Engineering and Energy Technology, Tianjin Polytechnic University, Tianjin 300387, China | | TANG Huan | Key Laboratory of Advanced Electrical Engineering and Energy Technology, Tianjin Polytechnic University, Tianjin 300387, China | | LI Jing | Key Laboratory of Advanced Electrical Engineering and Energy Technology, Tianjin Polytechnic University, Tianjin 300387, China | | LI Xiao-jie | Key Laboratory of Advanced Electrical Engineering and Energy Technology, Tianjin Polytechnic University, Tianjin 300387, China | | ZHU Teng-da | Key Laboratory of Advanced Electrical Engineering and Energy Technology, Tianjin Polytechnic University, Tianjin 300387, China |
|
| Abstract: |
| The registration of point cloud is important for large object measurement. A measurement method for coordinate system transformation based on robot is proposed in this paper. Firstly, for obtaining extrinsic parameters, the robot moves to three different positions to capture the images of three targets. Then the transformation matrix X between camera and tool center point (TCP) coordinate systems can be calculated by using the known parameters of robot and the extrinsic parameters, and finally the multi-view coordinate system can be transformed into robot coordinate system by the transformation matrix X. With the help of robot, the multi-view point cloud can be easily transformed into a unified coordinate system. By using robot, the measurement doesn’t need any mark. Experimental results show that the method is effective. |
| Hits: 3765 |
| Download times: 0 |
| This work has been supported by the National Natural Science Foundation of China (Nos.60808020 and 61078041), the National Science and |
| View Full Text Download reader |
|
|
|
