Vision-Based Measurement for Localization of Objects in 3-D for Robotic Applications

摘要

Stereo vision is widely used in many 3-D image applications. In this paper, we present a methodology to estimate the localization of objects in 3-D scenes using collaborative robots. Using this method, the robots are able to measure the location of objects using only a single camera installed on each one of them. From one pair of images, each one acquired by a different robot, the method locates homologous points, and then rebuilds the object by using equations for coordinate transformations. The experimental results validate the application of the proposed method for the measurement of the pose of objects in autonomous robotic applications.