Determining robot location using common conic objects

Jiann Der Lee; Chin Hsing Chen; Jau Yien Lee

doi:10.1109/ETFA.1992.683284

Determining robot location using common conic objects

Jiann Der Lee
, Chin Hsing Chen
, Jau Yien Lee

National Cheng Kung University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, a new approach to the determination of robot location using the common conic object is proposed. Here, the common conic object includes any object that has a conic cylindrical portion, such as cylinders or elliptic cylinders etc.. Such objects are frequently seen in real environment. The solution provided by this approach can be computed analytically. This merit make the proposed approach more practical for general applications than other approaches requiring iterating computation. From a monocular image of the object, image processing and numerical analysis techniques are applied to extract the projection characteristics of the conic cylindrical portion of the object, from which the position and the rotation parameters of a camera-mounted robot can be determined. Experimental results with mean errors less than 5% prove the feasibility of the proposed approach.

Original language	English
Title of host publication	IEEE International Workshop on Emerging Technologies and Factory Automation
Subtitle of host publication	Technology for the Intelligent Factory - Proceedings, ETFA 1992
Editors	R. Zurawski, T.S. Dillon
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	381-385
Number of pages	5
ISBN (Electronic)	0780308867
DOIs	https://doi.org/10.1109/ETFA.1992.683284
State	Published - 1992
Externally published	Yes
Event	1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992 - Melbourne, Australia Duration: 11 08 1992 → 14 08 1992

Publication series

Name	IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Volume	1992-August
ISSN (Print)	1946-0740
ISSN (Electronic)	1946-0759

Conference

Conference	1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992
Country/Territory	Australia
City	Melbourne
Period	11/08/92 → 14/08/92

Bibliographical note

Publisher Copyright:
© 1992 IEEE.

Access to Document

10.1109/ETFA.1992.683284

Cite this

Lee, J. D., Chen, C. H., & Lee, J. Y. (1992). Determining robot location using common conic objects. In R. Zurawski, & T. S. Dillon (Eds.), IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992 (pp. 381-385). Article 683284 (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; Vol. 1992-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ETFA.1992.683284

Lee, Jiann Der ; Chen, Chin Hsing ; Lee, Jau Yien. / Determining robot location using common conic objects. IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992. editor / R. Zurawski ; T.S. Dillon. Institute of Electrical and Electronics Engineers Inc., 1992. pp. 381-385 (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA).

@inproceedings{1c9e272918434d15a0b8c82e28836d35,

title = "Determining robot location using common conic objects",

abstract = "In this paper, a new approach to the determination of robot location using the common conic object is proposed. Here, the common conic object includes any object that has a conic cylindrical portion, such as cylinders or elliptic cylinders etc.. Such objects are frequently seen in real environment. The solution provided by this approach can be computed analytically. This merit make the proposed approach more practical for general applications than other approaches requiring iterating computation. From a monocular image of the object, image processing and numerical analysis techniques are applied to extract the projection characteristics of the conic cylindrical portion of the object, from which the position and the rotation parameters of a camera-mounted robot can be determined. Experimental results with mean errors less than 5\% prove the feasibility of the proposed approach.",

author = "Lee, \{Jiann Der\} and Chen, \{Chin Hsing\} and Lee, \{Jau Yien\}",

note = "Publisher Copyright: {\textcopyright} 1992 IEEE.; 1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992 ; Conference date: 11-08-1992 Through 14-08-1992",

year = "1992",

doi = "10.1109/ETFA.1992.683284",

language = "英语",

series = "IEEE International Conference on Emerging Technologies and Factory Automation, ETFA",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "381--385",

editor = "R. Zurawski and T.S. Dillon",

booktitle = "IEEE International Workshop on Emerging Technologies and Factory Automation",

address = "美国",

}

Lee, JD, Chen, CH & Lee, JY 1992, Determining robot location using common conic objects. in R Zurawski & TS Dillon (eds), IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992., 683284, IEEE International Conference on Emerging Technologies and Factory Automation, ETFA, vol. 1992-August, Institute of Electrical and Electronics Engineers Inc., pp. 381-385, 1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992, Melbourne, Australia, 11/08/92. https://doi.org/10.1109/ETFA.1992.683284

Determining robot location using common conic objects. / Lee, Jiann Der; Chen, Chin Hsing; Lee, Jau Yien.
IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992. ed. / R. Zurawski; T.S. Dillon. Institute of Electrical and Electronics Engineers Inc., 1992. p. 381-385 683284 (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; Vol. 1992-August).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Determining robot location using common conic objects

AU - Lee, Jiann Der

AU - Chen, Chin Hsing

AU - Lee, Jau Yien

PY - 1992

Y1 - 1992

N2 - In this paper, a new approach to the determination of robot location using the common conic object is proposed. Here, the common conic object includes any object that has a conic cylindrical portion, such as cylinders or elliptic cylinders etc.. Such objects are frequently seen in real environment. The solution provided by this approach can be computed analytically. This merit make the proposed approach more practical for general applications than other approaches requiring iterating computation. From a monocular image of the object, image processing and numerical analysis techniques are applied to extract the projection characteristics of the conic cylindrical portion of the object, from which the position and the rotation parameters of a camera-mounted robot can be determined. Experimental results with mean errors less than 5% prove the feasibility of the proposed approach.

AB - In this paper, a new approach to the determination of robot location using the common conic object is proposed. Here, the common conic object includes any object that has a conic cylindrical portion, such as cylinders or elliptic cylinders etc.. Such objects are frequently seen in real environment. The solution provided by this approach can be computed analytically. This merit make the proposed approach more practical for general applications than other approaches requiring iterating computation. From a monocular image of the object, image processing and numerical analysis techniques are applied to extract the projection characteristics of the conic cylindrical portion of the object, from which the position and the rotation parameters of a camera-mounted robot can be determined. Experimental results with mean errors less than 5% prove the feasibility of the proposed approach.

UR - https://www.scopus.com/pages/publications/85067691603

U2 - 10.1109/ETFA.1992.683284

DO - 10.1109/ETFA.1992.683284

M3 - 会议稿件

AN - SCOPUS:85067691603

T3 - IEEE International Conference on Emerging Technologies and Factory Automation, ETFA

SP - 381

EP - 385

BT - IEEE International Workshop on Emerging Technologies and Factory Automation

A2 - Zurawski, R.

A2 - Dillon, T.S.

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992

Y2 - 11 August 1992 through 14 August 1992

ER -

Lee JD, Chen CH, Lee JY. Determining robot location using common conic objects. In Zurawski R, Dillon TS, editors, IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992. Institute of Electrical and Electronics Engineers Inc. 1992. p. 381-385. 683284. (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA). doi: 10.1109/ETFA.1992.683284

Determining robot location using common conic objects

Abstract

Publication series

Conference

Bibliographical note

Access to Document

Other files and links

Fingerprint

Cite this