Online Calibration of a 4 DOF Stereo Head
نویسندگان
چکیده
This paper addresses the problem of recovering accurate 3D geometry from a 4 degree of freedom stereo robot head. We argue that successful implementation of stereo vision in a real world application will require a self tuning system. This paper describes a statistical framework for the combination of many sources of information for the calibration of a stereo camera system which would allow continual recalibration during normal use of the cameras. The calibration is maintained using modules at three levels: fixed verge, variable verge and pan/tilt/verge calibration. Together these modules provide the means to fuse data obtained at various head positions into a single coordinate frame.
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