Simplified intrinsic camera calibration and hand-eye calibration for robot vision
نویسندگان
چکیده
In this paper we investigate how intrinsic camera calibration and hand-eye calibration can be performed on a robot vision system using the simplest possible motions and a planar calibration object. The standard methods on plane-based camera calibration are extended with theory on how to use pure translational motions for the intrinsic calibration and we see how hand-eye calibration can be performed within the same framework. The calibration of two cameras in a stereo head configuration is shown to be an interesting application of the developed theory. Results of experiments on a real robot vision system are presented.
منابع مشابه
Calibrating the Eye Motion of an Humanoid Robot
In the human visual system, the projective relationship between the images seen in each eye with each other changes with their motion as the viewer attends to different points in space. The active vision heads built for many humanoid robots approximate human gaze behavior and share this property. Knowledge of this projective relationship is used in stereo vision tasks and is captured entirely b...
متن کاملThe Advantage of Mounting a Camera onto a Robot Arm
{ In this paper we describe a method for recovering Euclidean structure of an unknown scene with an uncalibrated camera mounted onto a robot arm. More precisely the method achieves the following tasks: the projective structure of the scene obtained with a projective reconstruction algorithm is converted into an Euclidean structure and the intrinsic camera parameters are estimated as well as the...
متن کاملA World-Independent Approach for the Calibration of Mobile Robotics Active Stereo Heads
This paper describes an approach for calibrating active stereo heads for which no prior knowledge of the world coordinate system is required. During an automated procedure derived from this approach, the mobile robot can be loosely positioned in front of a calibration pattern. Through our procedure, both the camera calibration and the neck-eye calibration are obtained. With this set of calibrat...
متن کاملGlobal Optimization Techniques in Camera and Robot Calibration PhD Thesis Proposal
The advantages of vision-guided robots are widely recognized in industry and any improvement in the field has a lagre practical impact. First, we present state of the art in globally optimal algorithms in computer vision. The main mathematical aproaches that can be noticed in the field are discussed: polynomial methods, quasi-convex optimization, branch-and-bound algorithm and convex relaxation...
متن کاملHand - Eye Calibration 1
{ Whenever a sensor is mounted on a robot hand it is important to know the relationship between the sensor and the hand. The problem of determining this relationship is referred to as the hand-eye calibration problem. Hand-eye calibration is important in at least two types of tasks: (i) map sensor centered measurements into the robot workspace frame and (ii) allow the robot to precisely move th...
متن کامل