Automatic single-view monocular camera calibration-based object manipulation using novel dexterous multi-fingered delta robot

摘要

The approximation of 3D geometry through single image is a particular instance of 3D reconstruction from several images. The advance information or user input should be provided to retrieve or conclude depth information. This research presents a novel automatic method to enumerated 3D affine measurements from a single perspective image. The least geometric information has been resolute through the image of the scene. The vanishing line and a vanishing point are two required information to reconstruct from an image of a scene. The affine scene structure can be reconstructed through the image of a scene. The proposed approach has many advantages; there is no need of the camera's intrinsic matrix and the explicit correlation among camera and scene (pose), no need for selecting V-x, V-y, V-z points, novel dexterous robot architecture for manipulation. In this paper, the following approaches have been implemented: (1) the three sets of vanishing points in X, Y, and Z axis; (2) the vanishing lines of the image; (3) distance among planes that parallel to the reference plane; (4) image wrapping; (5) corner detection (algorithm has been implemented in order to make the process automatic). The indigenous data set has been taken for the experiment. The results are compared with Zhang- and ArUco-based calibration. This novel approach has been used to perform tracking and manipulation of an object in real-time environment.