KINNELL, P. ...et al., 2017. Autonomous metrology for robot mounted 3D vision systems. CIRP Annals - Manufacturing Technology, In Press.
Using a metrology system simulation approach, an algorithm is presented to determine the best position for a robot mounted 3D vision system. Point cloud data is simulated, taking into account sensor performance, to create a ranked list of the best camera positions. These can be used by a robot to autonomously determine the most advantageous camera position for locating a target object. The algorithm is applied to an Ensenso active stereo 3D camera. Results show that when used in combination with a RANSAC object recognition algorithm, it increased positional precision by two orders of magnitude, from worst to best case.
This work is in closed access until 29th Nov 2018
This work was funded by UK Engineering and Physical Research Council (grants EP/L01498X/1 and EP/I033467/1).