ICRA'09 Paper Abstract


Paper FrD2.5

Gonzalez-Galvan, Emilio J. (Univ. Autonoma de San Luis Potosi), Loredo-Flores, Ambrocio (Univ. Autonoma de San Luis Potosi), Raygoza, Luis Antonio (Universidad Autonoma de San Luis Potosi), Palos Garcia, Jose de Jesus (Universidad Autonoma de San Luis Potosi), Skaar, Steven B. (University of Notre Dame)

Precise and Robust Large-Shape Reproduction Using Uncalibrated Vision

Scheduled for presentation during the Regular Sessions "Computer Vision for Robotics and Automation - V" (FrD2), Friday, May 15, 2009, 16:50−17:10, Room: ICR

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Computer Vision for Robotics and Automation, Industrial Robots


The paper presents an alternative to CNC machining, based on a proposed method for creating very large and precise replicas of prototype shapes using material-removal and/or material-adding mechanisms that need not be calibrated. The method is based upon the creation of a ``virtual mold'', which is created in the two-dimensional image planes of two or more stationary, uncalibrated cameras. The cameras are placed so as to view portions of the prototype surface and remain stationary while multiple-beam laser pointers cast their light toward the prototype shape and the resulting laser-spot reflections are registered and matched among the cameras. Large numbers of images can be acquired with slightly offset pan and tilt angles of laser-pointer-bearing units, resulting in collected laser-spot-centroid indications that may number in the thousands. The spot-centroid coordinates in camera space are matched in such a way that individual, physical spot-centroid indications are registered in memory in accordance with correspondence among those cameras able to view any one particular spot. This forms the basis of the ``virtual mold''. Subsequent reproduction of the shape, as with a CNC machine, relies upon action of a robot to remove material from a blank. This blank is placed so as to occupy the region where the prototype had been during laser spot casting. Camera-space manipulation is used to guide the robot in consecutive passes of material removal, with laser spots cast upon e



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