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Planar Marker-Based Localization of a Robotic Fish in a Public Aquarium
Donghwa Lee,Donghoon Kim,Hyun Myung 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
A robotic fish localization system in a public aquarium is presented in this paper. The system is built on the marker-based camera pose estimation method. A webcam, an ARM processor, and multiple planar markers are employed for real-time camera pose estimation. The camera is attached at the bottom of the head of the robotic fish. Since the camera and the fish body are connected rigidly, the pose estimation method gives the absolute 6 degree of freedom (DOF) location of the robotic fish. The experiments above ground and underwater validate the proposed localization system. Through the tests in a public aquarium with the integrated robotic fish system, the autonomous swimming was successfully demonstrated.
Six-degree-of-freedom Manipulator Displacement Measurement using Stereo Vision
이동혁(Dong-Hyeok Lee),백소영(So Young Baek),조남규(Nahm Gyoo Cho) Korean Society for Precision Engineering 2015 한국정밀공학회지 Vol.32 No.2
In this paper, six-degree-of-freedom (DoF). Displacement measurement technique using a compact stereo-vision system is proposed. The measuring system consists of a camera, an optical prism, two plane mirrors, and a planar marker on a target. The target was attached on an object so that its six-DoF displacement can be calculated using a proposed coordinates estimating algorithm and stereo images of the marker. A prototype was designed and fabricated for performance test. From the test results, it can be confirmed that the proposed measuring technique can be applied to monitoring and control of various manipulators.