3D Position sensing with a hybrid stereo vision system

FLAVIO ROBERTI; RAQUEL VASSALLO; MARCOS TOIBERO; RICARDO CARELLI

Juiz de Fora, Minas Gerais, Brasil

Congreso; XVII Congresso Brasileiro de Automatica, CBA; 2008

Asociación Brasilera de Control Automático

This paper presents a hybrid stereo vision system composed by a catadioptric vision system and a conventional perspective projection camera. The main contributions of this paper are the proposition of a 3D position sensing method, using different cameras mounted on two robots, and a sensitivity analysis for the catadioptric vision system. The sensing method is developed based on the geometrical characteristics of the independent vision systems, their projection models and the relative position between them. The sensitivity analysis is useful in determining those regions which allow more reliable measurements. Some preliminary experiments are also presented to validate the proposed method.