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Automatic Registration of Two Parts using Robot with Multiple 3D Sensor Systems
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 Title & Authors
Automatic Registration of Two Parts using Robot with Multiple 3D Sensor Systems
Ha, Jong-Eun;
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 Abstract
In this paper, we propose an algorithm for the automatic registration of two rigid parts using multiple 3D sensor systems on a robot. Four sets of structured laser stripe system consisted of a camera and a visible laser stripe is used for the acquisition of 3D information. Detailed procedures including extrinsic calibration among four 3D sensor systems and hand/eye calibration of 3D sensing system on robot arm are presented. We find a best pose using search-based pose estimation algorithm where cost function is proposed by reflecting geometric constraints between sensor systems and target objects. A pose with minimum gap and height difference is found by greedy search. Experimental result using demo system shows the robustness and feasibility of the proposed algorithm.
 Keywords
Robot vision;Robot manipulation;Registration;Assembly;Structured stripe system;
 Language
English
 Cited by
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