3D Measuring System for Assembly Robot Using Stereo Camera. Camera Model and Parameter Calibration by Geometrical Method.

摘要

In the assembly robot system, CCD camera is useed to measure the distance to the object. The camera is mainly used as the single camera system. But recently practical 3D measuring system is demanded for assembly robot system to utilize its positioning and repeat accuracy with the support of the 3D measuring ability. In this paper stereo camera system is studied. A camera model is introduced to calculate the 3D coordinates of the object point in the world coordinate system, and a new geometrical calibration method of the stereo camera system is presented. By the experimental results using f16mm and F1.6 lenses about 0.5 mm accuracy in 5mm cubic is gained. The result is not sufficient for assembly robot, but the prospect to improve, it to 0.01mm accuracy has been discussed.