Nonlinear residual error compensation of a robot vision system using a rotary laser scanner

Fan Ye; Yukun Wang; Xiaobo Chen; Juntong Xi

doi:10.1364/ISA.2023.ITh2E.4

Optica Imaging Congress (3D, COSI, DH, FLatOptics, IS, pcAOP)
Technical Digest Series (Optica Publishing Group, 2023),
paper ITh2E.4
•https://doi.org/10.1364/ISA.2023.ITh2E.4

Nonlinear residual error compensation of a robot vision system using a rotary laser scanner

Fan Ye, Yukun Wang, Xiaobo Chen, and Juntong Xi

Imaging Systems and Applications 2023

Boston, Massachusetts United States
14–17 August 2023
ISBN: 978-1-957171-28-9

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Imaging Applications and Devices IV (ITh2E)

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F. Ye, Y. Wang, X. Chen, and J. Xi, "Nonlinear residual error compensation of a robot vision system using a rotary laser scanner," in Optica Imaging Congress (3D, COSI, DH, FLatOptics, IS, pcAOP), Technical Digest Series (Optica Publishing Group, 2023), paper ITh2E.4.

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Abstract

We design a rotary laser scanner integrated into an industrial robot. Then, the robot vision system is modeled and calibrated by scanning point cloud of spheres from different poses. A PR-DNN is presented to compensate nonlinear residual error and the RMSE can reach 0.0611mm.

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