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Maurer Michael Saffari Amir Schulter Samuel Seichter Hartmut Voglreiter Philip Zeisl Bernhard Lex Alexander Arth Clemens Barakonyi István Bauer Joachim Beichel Reinhard Bischof Horst Boechat Pedro Bornik Alexander Reitinger Bernhard Bauer Christian Gruber Lukas Kainz Bernhard Pirchheim Christian Daftry Shreyansh Wagner Daniel Kalkofen Denis Dokter Mark Donoser Michael Elbischger Pierre Ferstl David Fraundorfer Friedrich Reitmayr Gerhard Geymayer Thomas Godec Martin Graber Gottfried Grabner Markus Grubert Jens Hartl Andreas Hauswiesner Stefan Riemenschneider Hayko Grabner Helmut Hirzer Martin Hofer Manuel Holzmann Thomas Hoppe Christof Irschara Arnold Newman Joseph Junghanns Sebastian Khan Inayatullah Kalkusch Michael Karner Konrad Kenzel Michael Kerbl Bernhard Khlebnikov Rostislav Klaus Andreas Klopschitz Manfred Kluckner Stefan Köstinger Martin Kontschieder Peter Pirker Katrin Kruijff Ernst Langlotz Tobias Langs Georg Leberl Franz Lee Felix Leistner Christian Leitner Raimund Lenz Martin Lepetit Vincent Mauthner Thomas Meixner Philipp Mendez Erick Grabner Michael Heber Markus Mühl Judith Mulloni Alessandro Ober Sandra Pacher Georg Partl Christian Pflugfelder Roman Pinz Axel Roth Peter M. Pock Thomas Possegger Horst Puff Werner Pan Qi Ram Surinder Ranftl René Grasset Raphael Recky Michal Regenbrecht Holger Reinbacher Christian Rüther Matthias Rumpler Markus Santner Jakob Sareika Markus Schall Gerhard Schmalstieg Dieter Schulz Hans-Jörg Sormann Mario Steinberger Markus Stern Darko Sternig Sabine Storer Markus Straka Matthias Streit Marc Tatzgern Markus Nguyen Thanh Nguyen Thuy Trobin Werner Unger Markus Uray Martina Urschler Martin Veas Eduardo Ventura Jonathan Waldner Manuela Wendel Andreas Werlberger Manuel Winter Martin Wohlhart Paul Zach Christopher Zebedin Lukas Zollmann Stefanie
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Vision Based Kinematic Calibration and Error Compensation of Articulated Robot Arms
(details)

Development of a vision system for accurate calibration of the kinematic chain of an articulated robot arm.

The absolute positioning error of articulated robot arms is typically by an order of ten higher than their repeatability error. Inaccurate blueprint kinematic models typically account for 90% of this discrepancy. In this work a calibration procedure is developed which calibrates the kinematic model of a robot arm using fixed stereo rig and a calibration target mounted on the robot hand. In a single calibration framework the following parameters are automatically determined:

  • DH-parameters of the robot arm
  • Relative pose of calibration target and tooltip
  • Relative pose of stereo rig and robot coordinate frame
  • Interior camera parameters
  • Lens distortion parameters of both cameras
  • Relative pose of the stereo cameras
  • Inaccuracies/deformation of the calibration target

The procedure is fully automatic and does not require expensive, precalibrated equipment.

2005 2006
Robotics and Computer Vision Laboratory
(details)

The Robot Vision Laboratory was established in 2004 to provide a common platform for experiments, demos and prototyping in the field of computer vision. Among other things, the lab inventory contains a 6DOF articulated robot arm, a PeopleBot mobile robot platform, several imaging and illumination devices.

2004 2010

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