8 October 2007 3-dimentional measurement of cable configuration being based on feature tracking motion stereo
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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.
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Yukiyasu Domae, Yukiyasu Domae, Haruhisa Okuda, Haruhisa Okuda, Hidenori Takauji, Hidenori Takauji, Shun'ichi Kaneko, Shun'ichi Kaneko, Takayuki Tanaka, 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); doi: 10.1117/12.754594; https://doi.org/10.1117/12.754594
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