Reflected hotspot used in industrial vision

Abstract

The paper deals with the measuring of a robot displacement, by stereo image matching; images of a hotspot placed onto the robot, generated by LASER reflected radiation are acquired by two CCD cameras; the reflective point is up to designer, in this particular case being the reflective surface of a small ball placed in view field of cameras. The technique to determine the 3D displacement of the robot, using the image matching approach, is presented. Using a pair of stereo images, the coordinates for a set of points belonging to the robot in a reference position are computed in a 3D Cartesian system. The procedure is then repeated for a new position. In order to demonstrate the validity of this technique, some experimental results are also presented.