Camera Calibration with Distortion Models and Accuracy Evaluation
IEEE Transactions on Pattern Analysis and Machine Intelligence
A theory of self-calibration of a moving camera
International Journal of Computer Vision
A 3-D vision system model for automatic object surface sensing
International Journal of Computer Vision
International Journal of Robotics Research
Multiple view geometry in computer vision
Multiple view geometry in computer vision
Path planning for laser scanning with an industrial robot
Robotics and Autonomous Systems
Robotics and Computer-Integrated Manufacturing
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A laser triangulation sensor and six-axis manipulator mathematical modeling for the measurement of complex geometry parts will be outlined in the article. The integrated system model is showed covering the laser triangulation sensor, the geometry of the manipulator and the relative positions of the components during the measurement process. The method to calibrate the sensor and relate the positions of the sensor and the robot is explained in this work. The measurement process is carried out with the parameters calculated with this method and the nominal parameters of the robot. Finally, plane surfaces with holes and termination of tubes placed in different orientations will be measured; the accuracy of the integrated system (sensor and robot) will be presented as well.