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Search Publications by: Marek Franaszek (Fed)

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Displaying 1 - 25 of 53

Filtering Organized 3D Point Clouds for Bin Picking Applications

January 23, 2024
Author(s)
Marek Franaszek, Prem Rachakonda, Kamel S. Saidi
In many manufacturing applications, autonomous robot action is guided by a perception system integrated with the robot. The quality of the acquired 3D data must be high to ensure smooth and uninterrupted execution of robotic tasks. Unfortunately, many

Improving Fitting CAD to 3D Point Cloud Acquired with Line-of-Sight Sensor

November 7, 2023
Author(s)
Marek Franaszek, Prem Rachakonda, Kamel S. Saidi
Due to self-occlusions in 3D point clouds acquired with line-of-sight sensors, an incomplete representation of an object's surface is used in fitting a CAD (computer-aided design) model to the data. For certain types of object geometry, CAD pose fitted

Evaluating the depth resolution of 3D sensors for manufacturing automation applications

July 21, 2023
Author(s)
Prem Rachakonda, Geraldine S. Cheok, Marek Franaszek, Kamel S. Saidi
The Intelligent Systems Division (ISD) at the National Institute of Standards and Technology (NIST) is performing research to support the development of documentary standards within ASTM E57.23. This subcommittee is addressing the performance evaluation of

Gauging the difficulty of image segmentation

May 19, 2022
Author(s)
Marek Franaszek
Image segmentation is the first step in a complex process of object recognition. This report presents a method to gauge the difficulty of segmentation by calculating a scalar parameter Q for an image. This parameter depends on a distribution of the

Using Full Pose Measurement for Serial Robot Calibration

April 6, 2022
Author(s)
Marek Franaszek, Jeremy Marvel
To ensure smooth robot operations, parameters of its kinematic model and a registration transformation between robot base and world coordinate frame must be determined. Both tasks require data acquired by external sensors that can measure either 3D

Gauging Difficulty of Image Segmentation

March 25, 2022
Author(s)
Marek Franaszek
Image segmentation is the first step in a complex process of object recognition. This report presents a method to gauge the difficulty of segmentation by calculating a scalar parameter Q for an image. This parameter depends on a distribution of the

Improving Automated Insertion Task in Robotics by Reducing Registration Error

April 2, 2021
Author(s)
Geraldine S. Cheok, Marek Franaszek, Karl Van Wyk, Jeremy Marvel
A peg-in-hole operation is representative of common tasks performed in assembly lines by robots. It requires registration of the coordinate frame where a part resides to the robot frame. Poor registration causes misalignment of the peg and the hole which

Improving 3D Vision-Robot Registration for Assembly Tasks

April 3, 2020
Author(s)
Marek Franaszek, Geraldine S. Cheok, Karl Van Wyk, Jeremy A. Marvel
Quality registration between the coordinate frames of a perception system and a robot is important for the efficient operation of autonomous systems in vision-guided assembly lines. Rigid-body registration, which is based on the measurement of

Reducing Localization Error of Vision-Guided Industrial Robots

June 18, 2019
Author(s)
Marek Franaszek, Geraldine S. Cheok, Jeremy A. Marvel
In many manufacturing applications, such as automated drilling or inspection of large parts, accurate knowledge of both position and orientation is critical. In this paper, a method for reducing robot end-effector position and orientation error is

Improving Rigid-Body Registration Based on Points Affected by Bias and Noise

December 31, 2018
Author(s)
Marek Franaszek, Geraldine S. Cheok
The task of registering two coordinate frames is frequently accomplished by measuring the same set of points in both frames. Noise and possible bias in the measured locations degrade the quality of registration. It was shown that the performance of

Orientation Uncertainty Characteristics of Some Pose Measuring Systems

December 31, 2017
Author(s)
Marek Franaszek, Geraldine S. Cheok
We investigate the performance of pose measuring systems which determine an object's pose from measurement of a few fiducial markers attached to the object. Such systems use point-based, rigid body registration to get the orientation matrix. Uncertainty in

Tolerances and Uncertainty in Robotic Systems

November 8, 2017
Author(s)
Frederick M. Proctor, John L. Michaloski, Marek Franaszek
The ability to be programmed for a wide range of tasks is what differentiates robots from dedicated automation. Consequently, robots can be faced with often-changing requirements and conditions. Conventional application development based on teach

Propagation of orientation uncertainty of 3D rigid object to its points

October 28, 2017
Author(s)
Marek Franaszek, Geraldine Cheok
If a CAD model of a rigid object is available, the location of any point on an object can be derived from the measured 6DOF pose of the object. However, the uncertainty of the measured pose propagates to the uncertainty of the point in an anisotropic way

Method to Improve Point-Based Registration by Restoring Rigid-Body Condition

June 26, 2017
Author(s)
Marek Franaszek, Geraldine S. Cheok
The purpose of rigid-body registration is to find a rotation and translation which transforms one coordinate frame to another. The procedure requires measurement of common points (fiducials) in both frames. Noise and possible bias in the acquired locations

Precision vs Accuracy Dilemma in Point-Based Rigid-Body Registration

March 23, 2017
Author(s)
Marek Franaszek, Geraldine S. Cheok
The purpose of a registration is to find the transformation between two coordinate frames: working frame (from which 3D data are transformed) and destination frame (to which the data are transformed). In point-based, rigid-body registration, the

Propagation of Error from Registration Parameters to Transformed Data

June 6, 2016
Author(s)
Mili Shah, Marek Franaszek, Geraldine Cheok
Methods to register two sets of data have existed for quite some time. However, these sets of data are rarely error-free. Consequently, any parameters obtained from a registration method will be affected by the error in the sets of data. Moreover, if these

Guidelines for the Registration of Two Coordinate Frames

March 2, 2016
Author(s)
Geraldine S. Cheok, Marek Franaszek
The purpose of registration is to obtain the transformation matrix between two coordinate frames. Typically, sensors record positional measurements in their own local coordinate frame. When positional data are acquired by two instruments or two datasets