Efficient Integration of Template Matching, Calibration and Triangulation for Automating Peg Hole Insertion Task Using Two Cameras

International Journal of Computer Science and Engineering
© 2016 by SSRG - IJCSE Journal
Volume 3 Issue 11
Year of Publication : 2016
Authors : Andres Sauceda Cienfuegos, Baidya Nath Saha, Jesus Romero-Hdz, David Ortega

How to Cite?

Andres Sauceda Cienfuegos, Baidya Nath Saha, Jesus Romero-Hdz, David Ortega, "Efficient Integration of Template Matching, Calibration and Triangulation for Automating Peg Hole Insertion Task Using Two Cameras," SSRG International Journal of Computer Science and Engineering , vol. 3,  no. 11, pp. 1-5, 2016. Crossref, https://doi.org/10.14445/23488387/IJCSE-V3I11P112


This paper integrates template matching, calibration and triangulation algorithms in an efficient way to automate peg-hole insertion task using a pair of cameras. First we implement a fast template matching (fast correlation based block matching) algorithm for automatically finding the peg and hole using two cameras. We exploit the templates of the peg and hole at different orientation and illumination to improve the accuracy of the template matching algorithm. Then we implement the Direct Linear Transform (DLT) method based calibration algorithm to find the intrinsic and extrinsic parameters of the camera. We then refine the camera calibration parameters through Levenberg-Marquardt (LM) based non-linear optimization method. We used two cameras to prevent the occlusion of peg and hole occurred due to robot movement and to reduce calibration error. Finally we implement a DLT based triangulation method to find the three dimensional world coordinates of the peg and hole from the images captured by two cameras. We use square and circular grids to reduce triangulation error. For triangulation method similar feature points of two images are matched through Harris corner detection for square and sift features for circular grids. Optimum camera parameters for triangulation method are determined based on minimum rectification based calibration error. We conducted the experiment on gantry robot. Experimental results demonstrate that efficient integration of template matching, calibration and triangulation method can successfully automate peg hole insertion task.



Direct Lineal Transformation, Template Matching Algorithm, Harris corner detection, SIFT, Levenberg-Marquardt Algorithm, Triangulation method, peg-hole insertion task, gantry robot.


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