2005 | OriginalPaper | Chapter
3D Location of Circular Features for Robotic Tasks
Authors : M. Sonego, P. Gallina, M. Dalla Valle, A. Rossi
Published in: AMST’05 Advanced Manufacturing Systems and Technology
Publisher: Springer Vienna
Activate our intelligent search to find suitable subject content or patents.
Select sections of text to find matching patents with Artificial Intelligence. powered by
Select sections of text to find additional relevant content using AI-assisted search. powered by
In many robotic applications, 3D location estimation of an object with respect to a reference frame is required. Circular markers located on the object are often employed for this purpose. This paper addresses the problem of 3D location estimation of circular features from a single camera image. A mathematical closed-form solution of the problem allows to determine the normal vector to the circle feature with respect to the camera reference frame. High calculation accuracy is guaranteed by a Kalman filter which performs a sub-pixel parametric estimation. A set of experimental results shows the validity and the accuracy of the process involved in 3D angular estimation. The theory is applied to a real industrial problem, namely the 3D location of a car rim. In fact, this information is necessary to perform a pick-and-place robotic task.