Measurement Of 3-d Shape And Position By Fiber Grating Vision Sensor Installed On A Manipulator

Kazuo Nakazawa, Masayoshi Shimizu, Shin'ichi Yuta, Masato Nakajima

Research output: Contribution to journalConference articlepeer-review

4 Citations (Scopus)


This paper describes a 3-D shape measurement system equipped with a fiber grating vision sensor which is directly installed on a manipulator, and also describes a method to extract the shape and the position of an object in an unknown position on a working area with this system. This system has low resolution, since the fiber grating is used as a pattern projection device, but this on the other hand shortens the computation time and minimizes the size and weight of the sensor unit. A method for intelligent measurement of 3-D shape and position is described in this paper. First, the whole range data of a working area is obtained by scanning the vision sensor over the area and fitted into a rectangular parallelpiped. Then, measurement view points for the object are determined and the object is measured at each view point. With this data a polyhedral model is built. Last of all, the accuracy of each measured face of the model is examined to see whether it meets the required accuracy. If a face does not meet the requirement, the face has to be measured again. Actual experimental results using a pilot system are presented.

Original languageEnglish
Article number593672
Pages (from-to)611-616
Number of pages6
JournalIEEE International Conference on Intelligent Robots and Systems
Publication statusPublished - 1988 Jan 1
Event1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988 - Tokyo, Japan
Duration: 1988 Oct 311988 Nov 2

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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