By Topic

Stereo vision with 3D coordinates for robot arm application guide

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Eng Swee Kheng ; Sch. of Electr. & Electron. Eng., Univ. Sains Malaysia, Seberang Perai Selatan, Malaysia ; Abu Hassan, A.H. ; Ranjbaran, A.

This paper presented the application of stereo vision system for robot arm guidance application. The stereo vision system comprises the process of camera calibration, image rectification, stereo correspondences and 3D reconstruction. Camera calibration process was carried out to permit the extraction of camera intrinsic and extrinsic parameters for the image rectification purposes. Next, the image rectification process will transform and align the images such that corresponding features in each image will appear on the same row. Then, stereo correspondences were performed using the method of Sum of Differences (SAD) block matching algorithm. Lastly, the 3D reconstruction was implemented by backprojecting the image pixel in 3D point. From the experimental results, the stereo vision system well performed as the correct shape of the object and the depth of the stereo scene are recovered. The location and the distance of the object can be obtained through the 3D point.

Published in:

Sustainable Utilization and Development in Engineering and Technology (STUDENT), 2010 IEEE Conference on

Date of Conference:

20-21 Nov. 2010