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

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

doi:10.1109/ROBOT.2005.1570155

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

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

Electrical and Computer Engineering

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

19 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 language	English (US)
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	423-428
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570155
State	Published - 2005
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: Apr 18 2005 → Apr 22 2005

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Other

Other	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	4/18/05 → 4/22/05

Keywords

Active vision
Error model
Inspection planning
Stereo

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2005.1570155

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). Article 1570155 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). 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.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 423-428 1570155 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

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

Rivera-Rios, AH, Shih, FL & 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., 1570155, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 423-428, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 4/18/05. https://doi.org/10.1109/ROBOT.2005.1570155

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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.",

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AB - 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.

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

Abstract

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Keywords

ASJC Scopus subject areas

Access to Document

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