tailieunhanh - Robot Vision 2011 Part 2

Tham khảo tài liệu 'robot vision 2011 part 2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 32 Robot Vision we need a simulation tool for evaluating and optimizing our design. We need to use it to increase the understanding of how each error affects system performance and design the active vision system in terms of various parameters. Fortunately the model in this article makes this simulation possible. Actually we have developed a C class library to implement a simple tool. With it we can do experiments with various alternatives and obtain data indicating the best settings of key parameters. 6. TRICLOPS - A Case Study In this section we apply the model described above to a real active vision system - TRICLOPS as shown in Fig. 22. First we provide six design plans with tolerances assigned for all link parameters and analyze how the tolerances affect the pose estimation precision using our approach. We then compare the cost of each design plan based on an exponential cost-tolerance function. Please note that we do not give a complete design which is much more complicated than described here and therefore beyond this article s range. We just want to demonstrate how to use our model to help to design active vision systems or analyze and estimate kinematic error. TRICLOPS has four mechanical degrees of freedom. The four axes are pan about a vertical axis through the center of the base tilt about a horizontal line that intersects the base rotation axis and left and right vergence axes which intersect and are perpendicular to the tilt axis Fi-ala et al. 1994 . The system is configured with two in vergence lenses and the distance between the two vergence axes is 11 in . The ranges of motion are deg for the pan axis from deg to deg for the tilt axis and 44 deg for the vergence axes. The image coordinates in this demonstration are arbitrarily selected as u and v . The assigned link frames are shown in Fig. 3. Tolerances vs. Pose Estimation Precise As mentioned the errors are dependent on the variable parameters. We let the three .