Stereo Vision Using Compensation Technique For Improvement Of Distance Measurement Accuracy For Robot Arm Applications

Two-Dimensional (2D) vision systems have been widely applied to various automation fields in order to increase productivity. However, these 2D vision systems are not able to retrieve the third dimension (depth) of the object. Therefore, the most promising solution to this problem is to apply the...

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Main Author:	Eng, Swee Kheng
Format:	Thesis
Language:	English
Published:	2012
Subjects:	TK1-9971 Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.usm.my/46136/1/ENG%20SWEE%20KHENG_HJ.pdf
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id	my-usm-ep.46136
record_format	uketd_dc
spelling	my-usm-ep.461362020-02-10T01:00:11Z Stereo Vision Using Compensation Technique For Improvement Of Distance Measurement Accuracy For Robot Arm Applications 2012-02 Eng, Swee Kheng TK1-9971 Electrical engineering. Electronics. Nuclear engineering Two-Dimensional (2D) vision systems have been widely applied to various automation fields in order to increase productivity. However, these 2D vision systems are not able to retrieve the third dimension (depth) of the object. Therefore, the most promising solution to this problem is to apply the Three-Dimensional (3D) vision system to the automation fields. Among the 3D vision range finding method, stereo vision is most effective way of realizing the 3D vision. This research uses a pair of cameras as a stereo vision module to locate the object. The stereo vision system, which consists of camera calibration, image rectification, image segmentation, centroid computation and object localization is implemented. Image segmentation is performed through a process of edge-based segmentation, mathematical morphology and largest area selection. The x, y coordinates are given by the centroid coordinates of the object in the left image and the z coordinates are computed based on the obtained disparity value. The grayscale left and right images are successfully aligned horizontally through the image rectification process. The disparity error is minimized after the image segmentation process. The x coordinates result for mean and standard deviation of error are -0.14 cm and 0.19cm, respectively. The mean of error for y coordinates is -0.10 cm and the standard deviation of error for y coordinates is 0.48 cm. The initial mean and standard deviation of error for z coordinates are 0.37 cm and 0.42 cm, respectively. However, after compensation technique is performed, the mean and standard deviation of error for the z coordinates are reduced to -0.12 cm and 0.16 cm, respectively. The 3-degree of freedom robot arm can pick up a ball with the 3D location provided by the stereo vision system. 2012-02 Thesis http://eprints.usm.my/46136/ http://eprints.usm.my/46136/1/ENG%20SWEE%20KHENG_HJ.pdf application/pdf en public masters Universiti Sains Malaysia Pusat Pengajian Kejuruteraan Elektrik & Elektronik
institution	Universiti Sains Malaysia
collection	USM Institutional Repository
language	English
topic	TK1-9971 Electrical engineering Electronics Nuclear engineering
spellingShingle	TK1-9971 Electrical engineering Electronics Nuclear engineering Eng, Swee Kheng Stereo Vision Using Compensation Technique For Improvement Of Distance Measurement Accuracy For Robot Arm Applications
description	Two-Dimensional (2D) vision systems have been widely applied to various automation fields in order to increase productivity. However, these 2D vision systems are not able to retrieve the third dimension (depth) of the object. Therefore, the most promising solution to this problem is to apply the Three-Dimensional (3D) vision system to the automation fields. Among the 3D vision range finding method, stereo vision is most effective way of realizing the 3D vision. This research uses a pair of cameras as a stereo vision module to locate the object. The stereo vision system, which consists of camera calibration, image rectification, image segmentation, centroid computation and object localization is implemented. Image segmentation is performed through a process of edge-based segmentation, mathematical morphology and largest area selection. The x, y coordinates are given by the centroid coordinates of the object in the left image and the z coordinates are computed based on the obtained disparity value. The grayscale left and right images are successfully aligned horizontally through the image rectification process. The disparity error is minimized after the image segmentation process. The x coordinates result for mean and standard deviation of error are -0.14 cm and 0.19cm, respectively. The mean of error for y coordinates is -0.10 cm and the standard deviation of error for y coordinates is 0.48 cm. The initial mean and standard deviation of error for z coordinates are 0.37 cm and 0.42 cm, respectively. However, after compensation technique is performed, the mean and standard deviation of error for the z coordinates are reduced to -0.12 cm and 0.16 cm, respectively. The 3-degree of freedom robot arm can pick up a ball with the 3D location provided by the stereo vision system.
format	Thesis
qualification_level	Master's degree
author	Eng, Swee Kheng
author_facet	Eng, Swee Kheng
author_sort	Eng, Swee Kheng
title	Stereo Vision Using Compensation Technique For Improvement Of Distance Measurement Accuracy For Robot Arm Applications
title_short	Stereo Vision Using Compensation Technique For Improvement Of Distance Measurement Accuracy For Robot Arm Applications
title_full	Stereo Vision Using Compensation Technique For Improvement Of Distance Measurement Accuracy For Robot Arm Applications
title_fullStr	Stereo Vision Using Compensation Technique For Improvement Of Distance Measurement Accuracy For Robot Arm Applications
title_full_unstemmed	Stereo Vision Using Compensation Technique For Improvement Of Distance Measurement Accuracy For Robot Arm Applications
title_sort	stereo vision using compensation technique for improvement of distance measurement accuracy for robot arm applications
granting_institution	Universiti Sains Malaysia
granting_department	Pusat Pengajian Kejuruteraan Elektrik & Elektronik
publishDate	2012
url	http://eprints.usm.my/46136/1/ENG%20SWEE%20KHENG_HJ.pdf
_version_	1747821617990336512

Stereo Vision Using Compensation Technique For Improvement Of Distance Measurement Accuracy For Robot Arm Applications

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