Robot Vision System for Coordinate Measurement of Feature Points on Large Scale Automobile Part 被引量：1

Robot Vision System for Coordinate Measurement of Feature Points on Large Scale Automobile Part

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摘要 In this paper,we present a robot vision based system for coordinate measurement of feature points on large scale automobile parts.Our system consists of an industrial 6-DOF robot mounted with a CCD camera and a PC.The system controls the robot into the area of feature points.The images of measuring feature points are acquired by the camera mounted on the robot.3D positions of the feature points are obtained from a model based pose estimation that applies to the images.The measured positions of all feature points are then transformed to the reference coordinate of feature points whose positions are obtained from the coordinate measuring machine（CMM）.Finally,the point-to-point distances between the measured feature points and the reference feature points are calculated and reported.The results show that the root mean square error（RMSE） of measure values obtained by our system is less than 0.5 mm.Our system is adequate for automobile assembly and can perform faster than conventional methods. In this paper,we present a robot vision based system for coordinate measurement of feature points on large scale automobile parts.Our system consists of an industrial 6-DOF robot mounted with a CCD camera and a PC.The system controls the robot into the area of feature points.The images of measuring feature points are acquired by the camera mounted on the robot.3D positions of the feature points are obtained from a model based pose estimation that applies to the images.The measured positions of all feature points are then transformed to the reference coordinate of feature points whose positions are obtained from the coordinate measuring machine（CMM）.Finally,the point-to-point distances between the measured feature points and the reference feature points are calculated and reported.The results show that the root mean square error（RMSE） of measure values obtained by our system is less than 0.5 mm.Our system is adequate for automobile assembly and can perform faster than conventional methods.

作者 Pongsak Joompolpong Pradit Mittrapiyanuruk Pakorn Keawtrakulpong

机构地区 the Department of Control System and Instrumentation Engineering the Department of Mathematics

出处《Journal of Electronic Science and Technology》 CAS CSCD 2016年第1期80-86,共7页 电子科技学刊（英文版）

基金 wsupported by the Thailand Research Fund and Solimac Automation Co.,Ltd.under the Research and Researchers for Industry Program(RRI)under Grant No.MSD56I0098 Office of the Higher Education Commission under the National Research University Project of Thailand

关键词 3D pose estimation coordinate measurement coordinate measuring robot robot vision vision 3D coordinate measurement 3D pose estimation coordinate measurement coordinate measuring robot robot vision vision 3D coordinate measurement

分类号 TP391.41 [自动化与计算机技术—计算机应用技术] TP242 [自动化与计算机技术—检测技术与自动化装置]

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