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Multi-view coordinate system transformation based on robot

Journal Article


Abstract


  • The registration of point cloud is important for large object measurement. A measurement method for coordinate system transformation based on robot is proposed in this paper. Firstly, for obtaining extrinsic parameters, the robot

    moves to three different positions to capture the images of three targets. Then the transformation matrix X between

    camera and tool center point (TCP) coordinate systems can be calculated by using the known parameters of robot and

    the extrinsic parameters, and finally the multi-view coordinate system can be transformed into robot coordinate system

    by the transformation matrix X. With the help of robot, the multi-view point cloud can be easily transformed into a

    unified coordinate system. By using robot, the measurement doesn’t need any mark. Experimental results show that

    the method is effective.

UOW Authors


  •   Song, Limei (external author)
  •   Wang, Pengqiang (external author)
  •   Xi, Jiangtao
  •   Guo, Qinghua
  •   Tang, Huan (external author)
  •   Li, Xiao Jie (external author)
  •   Zhu, Tengda (external author)

Publication Date


  • 2015

Citation


  • L. Song, P. Wang, J. Xi, Q. Guo, H. Tang, X. Li & T. Zhu, "Multi-view coordinate system transformation based on robot," Optoelectronics Letters, vol. 11, (6) pp. 473-476, 2015.

Scopus Eid


  • 2-s2.0-84948186225

Number Of Pages


  • 3

Start Page


  • 473

End Page


  • 476

Volume


  • 11

Issue


  • 6

Place Of Publication


  • Germany

Abstract


  • The registration of point cloud is important for large object measurement. A measurement method for coordinate system transformation based on robot is proposed in this paper. Firstly, for obtaining extrinsic parameters, the robot

    moves to three different positions to capture the images of three targets. Then the transformation matrix X between

    camera and tool center point (TCP) coordinate systems can be calculated by using the known parameters of robot and

    the extrinsic parameters, and finally the multi-view coordinate system can be transformed into robot coordinate system

    by the transformation matrix X. With the help of robot, the multi-view point cloud can be easily transformed into a

    unified coordinate system. By using robot, the measurement doesn’t need any mark. Experimental results show that

    the method is effective.

UOW Authors


  •   Song, Limei (external author)
  •   Wang, Pengqiang (external author)
  •   Xi, Jiangtao
  •   Guo, Qinghua
  •   Tang, Huan (external author)
  •   Li, Xiao Jie (external author)
  •   Zhu, Tengda (external author)

Publication Date


  • 2015

Citation


  • L. Song, P. Wang, J. Xi, Q. Guo, H. Tang, X. Li & T. Zhu, "Multi-view coordinate system transformation based on robot," Optoelectronics Letters, vol. 11, (6) pp. 473-476, 2015.

Scopus Eid


  • 2-s2.0-84948186225

Number Of Pages


  • 3

Start Page


  • 473

End Page


  • 476

Volume


  • 11

Issue


  • 6

Place Of Publication


  • Germany