The application of parallel projections to three-dimensional object location in industrial assembly

Flexible industrial assembly under visual control requires fast and simple picture processing. Parallel projection optics can help to achieve this because it provides constant size images, high immunity to ambient illumination and easy combination of the results from multiple cameras to determine the position of objects in 3-D space. This paper describes the optical system itself, a simple method of calibration, and the application of the system to a simple problem in 3-D assembly.