Development of The Robot Eye System using a new device FIBER GRATING
| Project/Area Number |
59850071
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| Research Category |
Grant-in-Aid for Developmental Scientific Research
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| Allocation Type | Single-year Grants |
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| Research Field |
計測・制御工学
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| Research Institution | Keio University |
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Principal Investigator |
NAKAJIMA Masato (1985) 慶応義塾大学, 理工, 助教授 (20051766)
世古 淳也 (1984) 慶応義塾大学, 理工学部, 助教授
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| Project Period (FY) |
1984 – 1985
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| Project Status |
Completed (Fiscal Year 1985)
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| Budget Amount *help |
¥6,700,000 (Direct Cost: ¥6,700,000)
Fiscal Year 1985: ¥3,300,000 (Direct Cost: ¥3,300,000)
Fiscal Year 1984: ¥3,400,000 (Direct Cost: ¥3,400,000)
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| Keywords | Robot-eye / Grating / Fiber Bandle / Image Processing / レーザ |
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| Research Abstract |
This report describes on the development of the 3-dimensional shape measurement system using a FIBER GRATING (F.G.) as a pattern projection device.
We adopted a method which decides the 3-dimensional shape of the object by projecting a 3-dimensional array of bright spots on the object and measures the displacement of the each spot. This method is classified into the Active Stereo Method and the distinctive feature of the method is that which succeeds in the extreme miniaturization of the visual sensor parts of the system by the utilization of the F.G. as a pattern projection device and a fiber bandle as an image detection and transmission device.
The first year, we made an experimental constructing the basic system on a stabilized optical bench to confirm propriety of the proposed method, and collected the basic data required for the development of the pilot system. And we decided a specification of the system.
The next year, we clarified problems of this method by discussing the basic data obtained in the first year and in succession we proposed improving techniques for these problems.
We proposed the method recognizing the order of each spot from an input image and implemented to the system. And we also implemented an algorithm to improve the degradation of the measurement precision which depends on the optical aberations of pattern projection and image detecting devices and on the resolution limitations of the fiber bandle and a CCD camera.
And finally we attached this system to a robot arm to try to use actually and a robot visual system, as a results we verified the possibility to measure objects having concave planes.
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Report
(1 results)
Research Products
(6 results)
