Identification and 3D Coordinate Extraction of Object Via Tele-Task Command

Abstract

Major deficiencies of current automation scheme including various robots for bioproduction include the lack of task adaptability and real time processing, low job performance for diverse tasks, and the lack of robustness of task results, high system cost, failure of the credit from the operator, and so on This paper proposed a scheme that could solve the current limitation of task abilities of conventional computer controlled automatic system. The proposed scheme is the man-machine hybrid automation via tele-operation which can handle various Coproduction processes And it was classified into two categories One category was the efficient task sharing between operator and CCM (computer controlled machine) The other was the efficient interface between operator and CCMTo realize the proposed concept, task of the object identification and extraction of 3D coordinate of an object was sclectcd 3D coordinate information was obtained from cantera calibration using camera as a measxirement device Two stereo images were obtained by moving a camera certain distance in horizontal direction normal to focal axis and by acquiring two images at different locations Transformation matrix for camera calibration was obtained via least square error approach using specified 6 known pairs of data points in 2D image and 3D world space 3D world coordinate was obtained from two sets of image pixel coordinates of both camera images with calibrated transformation matrixAs an interface system between operator and CCM, a touch pod screen mounted on the monitor and remotely captured imaging system were used Object indication was done by the operator's finger touch to the captured image using the touch pad screen A certain size of local image processing area was specified after the touch was made. And image processing was performed with the specified local area to extract desired features of the object An MS Window s based interface software was developed using Visual C++6.0 The software was developed with four modules such as remote image acquisition module, task command module, local image processing module and 3D coordinate extraction module Proposed scheme showed the feasibility of real tune processing, robust and precise object identification and adaptability of various job and environments through selected sample tasks