Robot Visual Measurement and Control Reading Notes 1

Basic concepts of Robot Vision

1. Camera Calibration: the process of obtaining internal and external parameters of the camera.

2. Vision System Calibration: determines the relationship between the camera and the robot.

3. hand-eye system: a robot vision system consisting of a camera and a manipulator.

4. Eye-in-hand: the visual system where the camera is mounted at the end of the manipulator and moves along with the manipulator.

5. Eye-to-hand: the camera is not mounted at the end of the manipulator and does not move with the manipulator.

6. Vision Measure/visual measure: measure the position and posture of the Target Based on the visual information obtained by the camera.

7. Vision control/visual control: Obtain the position and posture of the Target Based on Visual Measurement, and control the robot's position and posture as a given or feedback.

8. visual servo/visual servoing: visual information is used to control the robot's servo control.

9. Planar vision: the tested object is in a plane, and only the information of the object in the plane is measured and visually controlled.

10. Stereo Vision: Visual Measurement and Control of Object Information in three-dimensional Cartesian space.

11. Structured Light vision (structured light vision): uses a specific light source to illuminate a target to form a manual feature, which is measured by the camera. Structured Light vision simplifies Feature Extraction in image processing and greatly improves image processing speed.

12. Active vision: a visual system that actively lights the target or actively changes camera parameters.

13. Passive vision: passive vision uses natural measurements, such as binocular vision.