Self-calibration from Image Derivatives for Active Vision Systems

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding

Abstract

In this paper we show how to calibrate a camera, mounted on a robot, with respect to the intrinsic camera parameters when the so-called hand-eye transformation between the robot hand and the camera is unknown. The calibration is based directly on the spatial and temporal derivatives in an image sequence and do not need any matching and tracking of features or a reference object. The calibration is to be performed on an active robot vision system where the motion of the robot hand can be controlled. A minimum of 3 non co-planar translations of the robot hand are needed for the calculation. In conjunction with the intrinsic camera calibration the orientation of the camera, with respect to the robot hand, is calculated. The position of the camera can then also be obtained. At each stage only the image derivatives and the known motion of the robot hand are used. For the full, intrinsic and extrinsic, calibration a total of 5 distinct motions are used. The algorithm has been tested in extensive experiments with respect to e.g. noise sensitivity.

Details

Authors
Organisations
Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Mathematics

Keywords

  • Image derivatives, Image sequences, Self calibration algorithms, Hand eye transformation
Original languageEnglish
Title of host publicationProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
PublisherNanyang Technological University
Pages1116-1121
ISBN (Print)9810474806
Publication statusPublished - 2002
Publication categoryResearch
Peer-reviewedYes
EventProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002 - Singapore, Singapore
Duration: 2002 Dec 22002 Dec 5

Conference

ConferenceProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002
CountrySingapore
CitySingapore
Period2002/12/022002/12/05