Development of a Digital Stereo-Vision System for Robot 3D Tracking
by: George O’Neill
Three-dimensional point reconstruction using stereophotogrammetry and the Direct Linear Transformation (DLT) method are the areas of research undertaken for this thesis to determine the three-dimensional coordinates of unknown points. The system was first calibrated, and then employed to measure the trajectory of a robot. This research involved the implementation and evaluation of a close-range stereophotogrammetric system. This system consisted of an off-the-shelf video camera and image processing personal computer (PC) cards, a mirror to act as the second ‘virtual’ camera, and ‘C’ language program implementing the DLT mathematical model. Once the system was calibrated, it was used to track the end-effector of a six degree-of-freedom robot.
- Adams, J. Alan, and Billow, Leon M., Descriptive Geornetry and Geometric Modeling, Holt, Rinehart and Winston, New York, 1988.
- Allen, Peter K., Timcenko, Aleksandar, et al., “Trajectory Filtenng and Prediction for Automated Tracking and Grasping of a Moving Object”, Proceedings of the 1992 IEEE International Conference on Robotics and Automation, pp1850-1856, May1992.
- Beesley, M J ., Lasers and Their Applications, Taylor and Francis Ltd, London, 1971.
- Beni, G., Hackwood, S., “Recent Advances in Robotics”, Bell Laboratories Report, John Wiley & Sons, pp. 263 -312,1982.
- Butler,David A.,and Pierson, Patncia K., “Correcting Distortion in Digital Images”, Vision ’87 Conference Proceedings, Detroit, pp.6-49-6-69, June1987.
- Butters, John N., Holography and its Technology, Peter Peregrinus Ltd., London, 1971.
- Castano, Andres, and Hutchinson, Seth, “Visual Cornpliance: Task-Directecd Visual Servo Controp, IEEE Transactions on Robotics and Automation, Vol. 10, No. 3, pp. 334-342, June 1994.
- Chang, Ker-Chang, Lee, Hsi-Jian, et al., “Adaptively Estimating Motion Parameters for Tracking a Manoeuvring Target Using Images”, International Journal of Robotics and Automation, Vol. 4, NO. 1, pp. 43-52, 1989.
- Chen, Shu-Yuan, and Tsai, Wen-Hsiang, “Determination of Robot Locations by Common Object Shapes”, IEEE Transactions on Robotics and Automation, Vol. 7, No. 1, pp. 149-156,Feb.1991.
- Chen, Shu-Yuan, and Tsai, Wen-Hsiang, “Robot Location Using Surface Patches of Curved Objects”, International Journal of Robotics and Automation, Vol. 4, No. 3, pp. 123-133,1989.
- Cox, Arthur, Photographic Optics A Modern Approach to the Technique and Definition, Focal Press Limited, London, 1966.
- Deitel, H.M.,and Deitel, P.J., C++ How to Program, Prentice Hall, Engelwood Cliffs, 1994.
Startup Views From a Founder
by: George O’Neill
Being the founder of a business is one of the most rewarding and simultaneously challenging undertakings one may encounter.
Identifying a market opportunity that fulfills a real consumer need creates a business opportunity, and of course presents risk. Finding the right financing structure to maximize that opportunity and to minimize the inherent risk is a dance that founders and investors engage in. Founders often talk about the importance of achieving product-market fit for the businesses we are creating. Another key fundamental is also ensuring there is founder-investor fit, and trust.
- Calacanis, J., How To Invest in Technology Startups-Timeless Advice from an Angel Investor, Harper Collins, 2017.
- Feld, B., The Illusion of Product/Market Fit, Feld Thoughts Blog feld.com, 2015.
- Herold, C., Vivid Vision, Lioncrest, 2018.