F-1329 A Real-Time Motion Stereo Vision Based on Brightness Gradient : An Application to Manipulator Control

Abstract

To realize autonomous manipulators which work outdoors, 3-D vision sensors are required to measure objects and environments under severe conditions. The authors have proposed a real-time motion stereo vision which measures 3-D coordinates of objects with simple calculations based on brightness gradient of images captured by a motion camera. In this paper, to improve the measuring accuracy, optimal parameters are derived experimentally and, based on the results, a downsized motion camera mechanism is fabricated. Then, the vision sensor is applied to 6-DOF electro-hydraulic manipulator control to grasp a column.