2A1-T01 ロボット視用カメラ配置の多目的最適化とばら積みピッキングへの適用

• 辻内 伸好

  同志社大

• 伊藤 彰人

  同志社大

• 岡田 悠佑

  同志社大

書誌事項

タイトル別名

• 2A1-T01 Multipurpose Optimization of Camera Position for Robot Vision and Applying to Random-Bin-Picking

抄録

Autonomous robots that replace humans are currently in high demand in the manufacturing sector worldwide. However, these robots cannot be used in unknown environments. In this search, we aim at improving the camera calibration accuracies in order to accurately calculate the shape and position of an object from the image information obtained by two cameras.We focus on the positions of two cameras. In this reserch, we propose the optimal positions of two cameras by taking into consideration calibration accuracies. First of all, we examine the influences of the positions of two cameras for calibration accuracies. Next, we determine the optimal camera position by considering pareto optimization. After that, we verify the effectiveness of the positions of two cameras by random-bin-picking accompanied by searching task and grasping task.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2015 (0), _2A1-T01_1-_2A1-T01_4, 2015

  一般社団法人 日本機械学会

キーワード

• Computer Vision
• Multipurpose Optimization
• Calibration Accuracy
• Pattern Matching

詳細情報

• CRID: 1390001205941360640
• NII論文ID: 110010055305
• DOI: 10.1299/jsmermd.2015._2a1-t01_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2015/0/2015__2A1-T01_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
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