The position detection and calculation of the object via a binocular vision
| Autor: | Chi-sheng Hsu, 徐啟勝 |
|---|---|
| Rok vydání: | 2011 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 99 The purpose of this study is to design a binocular vision system for a robot arm. The vision system can detect the target object and calculate its position in 3D space such that the robot arm can reach the target object according to the information from the vision system. The binocular vision system includes two CCDs which are installed in the shoulder of the robot arm and a person computer. Except two CCDs, there is not any other sensor. The CDDs capture the target image and then the image goes through some image processing to catch the feature points of the target object. Based on the feature points, the central point of the target object is obtained. A binocular vision model is constructed to calculate the 3D coordinate of the object from 2D image coordinate by the coordinate transformation formulas. In other words, the distances in 3D space between the target object and the original point of the robot arm is determined. Therefore, according to the calculated 3D coordinate of the target object, the robot arm can achieve three tasks. The first is that holding an egg and put it into a bowl; the second is grasping a bottle filled with water and pour the water into a cup; and the last one is pressing the exact number of elevator buttons. Finally, there are practical experiments to demonstrate the effectiveness of the binocular vision system. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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