3-dimensional measurement of cable configuration being based on feature tracking motion stereo

Yukiyasu Domae; Haruhisa Okuda; Hidenori Takauji; Shun'ichi Kaneko; Takayuki Tanaka

doi:10.1117/12.754594

8 October 2007 3-dimentional measurement of cable configuration being based on feature tracking motion stereo

Yukiyasu Domae, Haruhisa Okuda, Hidenori Takauji, Shun'ichi Kaneko, Takayuki Tanaka

Proceedings Volume 6719, Optomechatronic Systems Control III; 67190J (2007) https://doi.org/10.1117/12.754594
Event: International Symposium on Optomechatronic Technologies, 2007, Lausanne, Switzerland

Abstract

We propose a novel three-Dimensional measurement approach of flexible cables for factory automation appliations, such as cable handling, connecter insertion without conflicts with cables by using robotic arms. The approach is based on motion stereo with a vision sensor. Laser slit beams are irradiated and make landmalks on the cables to solve stereo correspondence problem efficiently. These landmark points and interpolated points having rich texture are tracked in a image sequence, and reconstructed as the cable shape. For stable feature point tracking, a robust texture matching method which is Orientation Code Matching and tracking stability analysis are applied. In our experiments, arch-like cables have been reconstructed with an uncertainty of 1.5 % by this method.

Citation Download Citation

Yukiyasu Domae, Haruhisa Okuda, Hidenori Takauji, Shun'ichi Kaneko, and Takayuki Tanaka "3-dimentional measurement of cable configuration being based on feature tracking motion stereo", Proc. SPIE 6719, Optomechatronic Systems Control III, 67190J (8 October 2007); https://doi.org/10.1117/12.754594

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