Research Projects (2005)
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- 3D Computer Vision 3D reconstruction Aerial Vision Augmented Reality Augmented Video Best Paper Award Biometrics Caleydo Computational Photography Computer Graphics Computer Vision Convex Optimization Coordinate transformations detection face Fingerprint Georeferencing GPU GUI HOG Human Computer Interaction Image Labelling Industrial Applications Information Visualization integral imaging Interaction Interaction Design Machine Learning Medical computer vision Medical Visualization Mixed Reality Mobile computing Mobile phone Model Multi-Display Environments Multiple Perspectives Object detection Object recognition Object reconstruction Object Tracking On-Line Learning Robotics Segmentation Shape analysis shape from focus SLAM Software Projects Structure from Motion Surveillance SVM Symmetry Tracking Fusion Tracking, Action Recognition User Interfaces Variational Methods Virtual reality and augmented reality Visual Tracking Visualization
Vision Based Kinematic Calibration and Error Compensation of Articulated Robot Arms
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:
The procedure is fully automatic and does not require expensive, precalibrated equipment.