Research Projects (2005)

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Show Contacts: Maurer Michael , Saffari Amir , Schulter Samuel , Seichter Hartmut , Zeisl Bernhard , Lex Alexander , Arth Clemens , Barakonyi István , Bauer Joachim , Beichel Reinhard , Bischof Horst , Bornik Alexander , Reitinger Bernhard , Bauer Christian , Gruber Lukas , Kainz Bernhard , Pirchheim Christian , Wagner Daniel , Kalkofen Denis , Donoser Michael , Elbischger Pierre , Ferstl David , Fraundorfer Friedrich , Reitmayr Gerhard , Godec Martin , Graber Gottfried , Grabner Markus , Grubert Jens , Hartl Andreas , Hauswiesner Stefan , Riemenschneider Hayko , Grabner Helmut , Hirzer Martin , Hofer Manuel , Hoppe Christof , Irschara Arnold , Newman Joseph , Junghanns Sebastian , Khan Inayatullah , Kalkusch Michael , Karner Konrad , 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 , 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 , 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 , Sternig Sabine , Storer Markus , Straka Matthias , Streit Marc , Tatzgern Markus , Nguyen Thanh , Nguyen Thuy , Trobin Werner , Unger Markus , Uray Martina , Urschler Martin , Veas Eduardo , Waldner Manuela , Wendel Andreas , Werlberger Manuel , Winter Martin , Wohlhart Paul , Zach Christopher , Zebedin Lukas , Zollmann Stefanie

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Show Keywords: 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

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Title	Abstract	Start	End
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