Abstract
In hand-eye systems for advanced robotic applications such as assembly, degrees-of-freedom of the vision sensor should be increased appropriately to cope with unstable scene conditions. Particularly, in case of using a simple vision sensor, an intelligent use of the sensor is essential to compensate for its inability to adapt to changing environment. This paper describes a vision sensor set-up planning system which automatically generates plans, based on the environmental models, of illumination positions to achieve reliable tasks. A typical vision task in which edges on an object are measured to determine the position and the orientation is assumed for the sensor set-up planning. In this context, the system is able to generate plans for camera position, illumination position, and a set of edges to be measured. The system determines the best plans of illumination for stationary or moving objects by evaluating scene conditions for reliable measurement of the object position such as edge length, contrast, and relative angles based on the model of the object and the task environment. Automatic vision sensor set-up planning functions as shown in this paper will play an important role not only for autonomous robotic systems but also for teleoperation systems in assisting advanced tasks.
