Precision Pose Measurement of an Object With Flange Based on Shadow Distribution

doi:10.1109/TIM.2019.2922515

CORC > 自动化研究所 > 中国科学院自动化研究所 > 精密感知与控制研究中心 > 精密感知与控制

	Precision Pose Measurement of an Object With Flange Based on Shadow Distribution
	Ma, Yanqin 1,2; Liu, Xilong 1,2; Xu, De 1,2
刊名	IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
	2020-05-01
卷号	69 期号:5 页码:2003-2015
关键词	Microscopic vision optimal model precision assembly pose measurement shadow distribution
ISSN号	0018-9456
DOI	10.1109/TIM.2019.2922515
通讯作者	Xu, De(de.xu@ia.ac.cn)
英文摘要	This paper proposes a novel method to achieve pose measurement in 3-D space using a microscopic camera. For an object with flange on its surface, there is a shadow region around the flange in the image if the camera is equipped with a ring light source. The flange's shadow distribution caused by the ring light source is deduced based on imaging principle. An optimal model used to estimate object's pose is designed based on the flange's shadow distribution. Take the objects with circle flange, which are commonly used in precision assembly as an example, the shadow-forming model and the relation between the rotation angle and the shadow width deviation are presented. The rotation axis is determined on the basis of two particular rays on the shadow. Then the object's orientation is computed based on the rotation axis and the rotation angle. A series of simulations and experiments are conducted to verify the high precision of the proposed pose measurement method. The root-mean-square (rms) errors of position and orientation measurement are 6.26 mu m and 0.19 degrees, respectively.
资助项目	National Key R&D Program of China[2018YFD0400902] ; National Natural Science Foundation of China[61733004] ; National Natural Science Foundation of China[61873266] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61673383] ; Beijing Natural Science Foundation[4161002]
WOS关键词	VISION ; CALIBRATION ; IMAGES
WOS研究方向	Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000528549700015
资助机构	National Key R&D Program of China ; National Natural Science Foundation of China ; Beijing Natural Science Foundation
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/39349]
专题	精密感知与控制研究中心_精密感知与控制
通讯作者	Xu, De
作者单位	1.Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Ma, Yanqin,Liu, Xilong,Xu, De. Precision Pose Measurement of an Object With Flange Based on Shadow Distribution[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2020,69(5):2003-2015.
APA	Ma, Yanqin,Liu, Xilong,&Xu, De.(2020).Precision Pose Measurement of an Object With Flange Based on Shadow Distribution.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,69(5),2003-2015.
MLA	Ma, Yanqin,et al."Precision Pose Measurement of an Object With Flange Based on Shadow Distribution".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 69.5(2020):2003-2015.