Data processing: measuring – calibrating – or testing – Calibration or correction system – Position measurement
Patent
1998-05-14
2000-08-08
Hoff, Marc S.
Data processing: measuring, calibrating, or testing
Calibration or correction system
Position measurement
702 95, 702150, 702152, 700245, 700254, 382153, 382154, G06F 1700, G01B 1100
Patent
active
061014559
ABSTRACT:
A work cell containing robot(s), video camera(s), and structured lighting source(s) is calibrated by observing targets with the camera(s) as a robot is displaced through a set of offsets. Complete information is recovered about the camera(s) calibration data and the structure of illumination from the light source(s). The robot is utilized to create known relative movements between the targets and the camera(s) and light source(s). Therefore, this technique is applicable to both the fixed and moving camera cases. Except for the target surface profile, there is no requirement to externally determine any absolute or relative positions, or any relationships either within or between the camera(s), targets, light source(s), and robot(s). Either single or multiple cameras (acting independently or in stereo) are calibrated to the robot's coordinate frame, and then optionally used as measuring devices to determine the position and form of the structured light.
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Y. Yakimovsky, R. Cunningham; "A System for Extracting Three-Dimensional Measurement from a Stereo Pair of TV Cameras", Computer Graphics and Image Processing 7, 1987, pp. 195-210.
Bui Brian
Hoff Marc S.
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