Stereo camera pose determination with error reduction and tolerance satisfaction for dimensional measurements

Alexis H. Rivera-Rios, Fai Lung Shih, Michael Marefat

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Scopus citations

Abstract

In this paper, we analyze the error in the dimensional measurement due to localization errors in the image plane of a parallel stereo setup. The mean square error of the dimensional measurements is formulated as the optimality criterion for determining camera poses. To determine optimal poses, a nonlinear program that minimizes the MSE while satisfying the sensor constraints of resolution, focus, field of view, visibility, workspace, and incidence angle constraints is presented. The probability that the measurement errors are within a specified tolerance for this setup is formulated. Finally, we evaluate the performance of the model against real data.

Original languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages423-428
Number of pages6
DOIs
StatePublished - Dec 1 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period4/18/054/22/05

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Keywords

  • Active vision
  • Error model
  • Inspection planning
  • Stereo

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Rivera-Rios, A. H., Shih, F. L., & Marefat, M. (2005). Stereo camera pose determination with error reduction and tolerance satisfaction for dimensional measurements. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 423-428). [1570155] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570155