Research Article

3D Reconstruction of End-Effector in Autonomous Positioning Process Using Depth Imaging Device

Table 3

Calibration point coordinates.

Calibration images ()⁢Calibration points ()
1
(pixel)
2
(pixel)
3
(pixel)
4
(pixel)
1
(mm)
2
(mm)
3
(mm)
4
(mm)

1(395.44, 277.95)(419.34, 431.35)(211.45, 276.86)(183.37, 435.75)(0.0101, −0.051)(0.1094, 0.2014)(−0.2342, −0.053)(−0.280, 0.208)
2(316.38, 89.96)(325.04, 384.09)(143.69, 50.58)(151.97, 425.29)(−0.059, −0.360)(−0.048, 0.1243)(−0.348, −0.427)(−0.330, 0.190)
3(386.20, 78.20)(376.58, 400.37)(181.60, 59.85)(176.88, 408.30)(0.0564, −0.381)(0.0402, 0.1461)(−0.283, −0.409)(−0.295, 0.1651)
4(427.13, 27.68)(409.01, 443.65)(152.58, 16.75)(155.62, 443.42)(0.0101, −0.051)(0.1094, 0.2014)(−0.2342, −0.053)(−0.280, 0.208)
5(279.39, 112.28)(367.26, 281.19)(162.72, 226.26)(179.53, 444.50)(−0.122, −0.323)(0.0231, −0.046)(−0.314, −0.138)(−0.287, 0.2236)
6(328.32, 19.74)(383.67, 444.30)(68.72, 48.74)(181.87, 416.62)(−0.040, −0.478)(0.0505, 0.2234)(−0.470, −0.427)(−0.284, 0.1752)
7(511.48, 85.75)(356.46, 400.65)(258.13, 25.40)(154.26, 442.60)(0.2614, −0.370)(0.0060, 0.1514)(−0.156, −0.4673)(−0.330, 0.2193)
8(466.40, 174.56)(352.62, 367.62)(214.13, 166.97)(185.33, 380.02)(0.1866, −0.221)(0.0001, 0.0948)(−0.229, −0.235)(−0.278, 0.1177)
9(441.64, 411.50)(238.88, 369.16)(346.80, 237.88)(155.20, 251.66)(0.1464, 0.1689)(−0.189, 0.0978)(−0.010, −0.118)(−0.326, −0.094)
10(248.51, 271.29)(503.75, 260.67)(168.48, 408.76)(407.92, 362.78)(−0.174, −0.063)(0.2498, −0.078)(−0.304, 0.1654)(0.0891, 0.0864)
11(303.88, 294.29)(593.38, 315.16)(197.27, 387.80)(557.31, 446.40)(−0.081, −0.023)(0.3969, 0.0089)(−0.257, 0.1286)(0.3374, 0.2266)
12(368.17, 223.77)(422.15, 434.15)(211.43, 224.87)(180.48, 439.08)(0.0247, −0.139)(0.1139, 0.2047)(−0.233, −0.140)(−0.285, 0.2151)
13(502.23, 402.00)(123.60, 443.40)(404.50, 282.87)(114.67, 295.45)(0.2447, 0.1503)(−0.379, 0.2227)(0.0873, −0.040)(−0.395, −0.024)
14(294.12, 222.68)(416.12, 422.37)(133.91, 218.88)(178.59, 444.40)(−0.097, −0.140)(0.1037, 0.1845)(−0.362, −0.151)(−0.288, 0.2243)
15(338.10, 223.56)(336.59, 445.48)(184.89, 177.12)(87.08, 389.13)(−0.024, −0.143)(−0.027, 0.2260)(−0.279, −0.216)(−0.439, 0.1304)
16(327.46, 185.72)(418.51, 284.77)(204.42, 286.52)(213.21, 449.03)(−0.042, −0.202)(0.1079, −0.040)(−0.245, −0.038)(−0.231, 0.230)
17(535.38, 156.60)(398.36, 407.26)(173.82, 149.55)(190.53, 430.82)(0.3013, −0.254)(0.0747, 0.1641)(−0.296, −0.261)(−0.270, 0.1981)
18(376.88, 19.36)(388.37, 445.41)(235.43, 78.19)(246.70, 396.15)(0.0384, −0.478)(0.0591, 0.2249)(−0.193, −0.380)(−0.177, 0.1423)
19(425.73, 59.90)(407.40, 425.41)(266.62, 90.41)(245.44, 382.71)(0.1211, −0.410)(0.0877, 0.1900)(−0.144, −0.362)(−0.176, 0.1236)
20(375.46, 78.39)(357.55, 397.71)(203.60, 16.85)(184.36, 444.33)(0.0368, −0.382)(0.0065, 0.1472)(−0.2474, −0.481)(−0.278, 0.222)