An efficient multi-camera, multi-target scheme for the three-dimensional control of robots using uncalibrated vision

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• 作者：Gonzá ; lez-Galvá ; n ; Emilio J. ; Cruz-Ramí ; rez ; Sergio R. ; Seelinger ; Michael J. ; et. al.
• 关键词：Multi-camera ; Multi-target ; Vision ; Control ; Robotics ; User-interface
• 刊名：Robotics and Computer-Integrated Manufacturing
• 出版年：2003
• 出版时间：October, 2003
• 年：2003
• 卷：19
• 期：5
• 页码：387-400
• 全文大小：775 K

文摘

A vision-based control methodology is presented in this paper that can perform accurate, three-dimensional (3D), positioning and path-tracking tasks. Tested with the challenging manufacturing task of welding in an unstructured environment, the proposed methodology has proven to be highly reliable, consistently achieving terminal precision of 1mm. A key limiting factor for this high precision is camera–space resolution per unit physical space. This paper also presents a means of preserving and even increasing this ratio over a large region of the robot's workspace by using data from multiple vision sensors.