Optical Tracking System
Abstract
The presented optical tracking system allowsintuitive controlling and programming of industrial robots by
demonstration. The system is engineered with low cost
components. Using an active marker (IR-LEDs) in combination
with a stereo vision configuration of the camera system and the
selection of suitable algorithms for the process chain of the image
processing a positioning accuracy in the range of millimeters has
been achieved. The communication between the tracking system
and the robot is realized by using the TCP/IP protocol via an
Ethernet connection.
References
Korak, G.: Entwicklung eines optischen Positionserfassungssystems zur Robotersteuerung. FH Campus Wien, Wien, 2014.
IPA Fraunhofer Institut für Produktionstechnik und Automatisierung INTEACH – Intuitive Roboterprogrammierung, Internet (15.01.2015)
Meyer, C.: Aufnahme und Nachbearbeitung von Bahnen bei der Programmierung durch Vormachen bei Industrierobotern. Dissertation, Universität Stuttgart, Jost Jetter Verlag, Heimsheim, 2011.
Lange, U.: Entwicklung robuster Bildverarbeitungsalgorithmen für Serviceroboter mittels konfigurierbarer reaktiver Ablaufstrukturen. Dissertation, Universität Brehmen, 2013.
Munkelt, C.: Aktive daten- und modellbasierte Sensorpositionierung zur 3-D Vermessung. Dissertation, Friedrich-Schiller-Universität Jena, 2011.
Schreer, O.: Stereoanalyse und Bildsynthese. Springer, Berlin Heidelberg New York, 2005.
Fisher, R. Subpixel estimation. University of Edinburgh http://homepages.inf.ed.ac.uk/rbf/PAPERS/spedraft.pdf, (05.08.2014)
Pandaboard: Internet (11.03.2014): http://pandaboard.org/
Calibrated Rectification Using OpenCV (Bouguet’s Algorithm), Michael Hornáček, Stereo Vision 2013, TU Wien . Internet (28.04.2014):
Marques, O.: Practical Image And Video Processing Using MATLAB. John Wiley & Sons, Hoboken, New Jersey, 2011.
Flieguth, P.: Statistical Image Processing and Multidimensional Modeling. Springer, New York Dordrecht Heidelberg London, 2011.
Russ, J.: The Image Processing Handbook. Taylor & Francis Group, Boca Raton, Sixth Edition, 2011.
Downloads
Published
Issue
Section
License
Copyright (c) 2015 International Journal of Electronics and Telecommunication
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
1. License
The non-commercial use of the article will be governed by the Creative Commons Attribution license as currently displayed on https://creativecommons.org/licenses/by/4.0/.
2. Author’s Warranties
The author warrants that the article is original, written by stated author/s, has not been published before, contains no unlawful statements, does not infringe the rights of others, is subject to copyright that is vested exclusively in the author and free of any third party rights, and that any necessary written permissions to quote from other sources have been obtained by the author/s. The undersigned also warrants that the manuscript (or its essential substance) has not been published other than as an abstract or doctorate thesis and has not been submitted for consideration elsewhere, for print, electronic or digital publication.
3. User Rights
Under the Creative Commons Attribution license, the author(s) and users are free to share (copy, distribute and transmit the contribution) under the following conditions: 1. they must attribute the contribution in the manner specified by the author or licensor, 2. they may alter, transform, or build upon this work, 3. they may use this contribution for commercial purposes.
4. Rights of Authors
Authors retain the following rights:
- copyright, and other proprietary rights relating to the article, such as patent rights,
- the right to use the substance of the article in own future works, including lectures and books,
- the right to reproduce the article for own purposes, provided the copies are not offered for sale,
- the right to self-archive the article
- the right to supervision over the integrity of the content of the work and its fair use.
5. Co-Authorship
If the article was prepared jointly with other authors, the signatory of this form warrants that he/she has been authorized by all co-authors to sign this agreement on their behalf, and agrees to inform his/her co-authors of the terms of this agreement.
6. Termination
This agreement can be terminated by the author or the Journal Owner upon two months’ notice where the other party has materially breached this agreement and failed to remedy such breach within a month of being given the terminating party’s notice requesting such breach to be remedied. No breach or violation of this agreement will cause this agreement or any license granted in it to terminate automatically or affect the definition of the Journal Owner. The author and the Journal Owner may agree to terminate this agreement at any time. This agreement or any license granted in it cannot be terminated otherwise than in accordance with this section 6. This License shall remain in effect throughout the term of copyright in the Work and may not be revoked without the express written consent of both parties.
7. Royalties
This agreement entitles the author to no royalties or other fees. To such extent as legally permissible, the author waives his or her right to collect royalties relative to the article in respect of any use of the article by the Journal Owner or its sublicensee.
8. Miscellaneous
The Journal Owner will publish the article (or have it published) in the Journal if the article’s editorial process is successfully completed and the Journal Owner or its sublicensee has become obligated to have the article published. Where such obligation depends on the payment of a fee, it shall not be deemed to exist until such time as that fee is paid. The Journal Owner may conform the article to a style of punctuation, spelling, capitalization and usage that it deems appropriate. The Journal Owner will be allowed to sublicense the rights that are licensed to it under this agreement. This agreement will be governed by the laws of Poland.
By signing this License, Author(s) warrant(s) that they have the full power to enter into this agreement. This License shall remain in effect throughout the term of copyright in the Work and may not be revoked without the express written consent of both parties.
