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

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

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

16 Citations (Scopus)

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 - IEEE International Conference on Robotics and Automation
Pages423-428
Number of pages6
Volume2005
DOIs
StatePublished - 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Other

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

Fingerprint

Cameras
Measurement errors
Visibility
Mean square error
Sensors

Keywords

  • Active vision
  • Error model
  • Inspection planning
  • Stereo

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

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

Stereo camera pose determination with error reduction and tolerance satisfaction for dimensional measurements. / Rivera-Rios, Alexis H.; Shih, Fai Lung; Marefat, Michael Mahmoud.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. p. 423-428 1570155.

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

Rivera-Rios, AH, Shih, FL & Marefat, MM 2005, Stereo camera pose determination with error reduction and tolerance satisfaction for dimensional measurements. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2005, 1570155, pp. 423-428, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 4/18/05. https://doi.org/10.1109/ROBOT.2005.1570155
Rivera-Rios AH, Shih FL, Marefat MM. Stereo camera pose determination with error reduction and tolerance satisfaction for dimensional measurements. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005. 2005. p. 423-428. 1570155 https://doi.org/10.1109/ROBOT.2005.1570155
Rivera-Rios, Alexis H. ; Shih, Fai Lung ; Marefat, Michael Mahmoud. / Stereo camera pose determination with error reduction and tolerance satisfaction for dimensional measurements. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. pp. 423-428
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