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

doi:10.1109/TIM.2019.2922515

CASIA OpenIR > 中科院工业视觉智能装备工程实验室 > 精密感知与控制

	Precision Pose Measurement of an Object With Flange Based on Shadow Distribution
	Ma, Yanqin1,2 ; Liu, Xilong1,2 ; Xu, De1,2
发表期刊	IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
ISSN	0018-9456
	2020-05-01
卷号	69 期号:5 页码:2003-2015
通讯作者	Xu, De(de.xu@ia.ac.cn)
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.
关键词	Microscopic vision optimal model precision assembly pose measurement shadow distribution
DOI	10.1109/TIM.2019.2922515
关键词[WOS]	VISION ; CALIBRATION ; IMAGES
收录类别	SCI
语种	英语
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]
项目资助者	National Key R&D Program of China ; National Natural Science Foundation of China ; Beijing Natural Science Foundation
WOS研究方向	Engineering ; Instruments & Instrumentation
WOS类目	Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000528549700015
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	目标检测、跟踪与识别
引用统计	被引频次：8[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/39350
专题	中科院工业视觉智能装备工程实验室_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
第一作者单位	精密感知与控制研究中心
通讯作者单位	精密感知与控制研究中心
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.