Date of Award


Publication Type

Master Thesis

Degree Name



Industrial and Manufacturing Systems Engineering

First Advisor

El Maraghy, W.


Engineering, Industrial.




This thesis describes the research part contributing to pose computation for accurate part positioning and reliable camera based robot workcell calibration. The pose computation technique presented here involves (1) the detection and recognition of artificial targets placed on the robot end-effector, on the fixture, and around the robot workspace; and (2) the computation of the camera pose (position and orientation) with respect to the targets using stereo triangulation. The artificial targets used for pose computation are designed for simplicity and distinctiveness so that they can be easily detected and used for pose computation. The major contribution of this technique is the use of passive vision with simple but distinctive targets for fast pose computation. Unlike many other pose computation techniques, this is based on detecting simple and unique targets. The process of target preparation and detection is described along with the formulation of stereo triangulation and pose computation. Results of target detection and stereo pose computation are also presented. Source: Masters Abstracts International, Volume: 39-02, page: 0575. Adviser: Waguith El Maraghy. Thesis (M.A.Sc.)--University of Windsor (Canada), 1999.