Multi-sensor fusion scheme for calibration-free stereo vision in a manufacturing workcell

Tzyh Jong Tarn, Mumin Song, Ning Xi, Bijoy K. Ghosh

Research output: Contribution to conferencePaperpeer-review

6 Scopus citations

Abstract

This paper discusses the subject of detecting the position and orientation of a moving part, which is placed randomly on a rotating disc conveyor in a manufacturing workcell. Two major difficulties of applying machine vision based technology are the requirement of precise system calibration and processing speed. In this paper, a new multi-sensor fusion scheme is introduced to overcome these difficulties. Firstly, a new algorithm is developed for a calibration-free stereo vision system to determine the relative position and orientation of the part with respect to the disc conveyor. Secondly, a novel multi-sensor fusion approach is introduced, which integrates information from the visual sensors and encoder measurements on the rotating disk so that the task space position and orientation of the part can be determined. Finally, a `parallel-guided' tracking scheme is implemented for planning and control of a robotic manipulator in order to track and grasp the moving part. The experimental results clearly demonstrate the advantages of the proposed scheme.

Original languageEnglish
Pages416-423
Number of pages8
StatePublished - 1996
EventProceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems - Washington, DC, USA
Duration: Dec 8 1996Dec 11 1996

Conference

ConferenceProceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems
CityWashington, DC, USA
Period12/8/9612/11/96

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