Kinematic calibration of an active camera system

A technique for the calibration of an active camera system is presented. The calibration of manipulator, camera-to-manipulator, camera, and base-to-world is treated in a unified and elegant way. In this approach, the camera frames and manipulator link frames are all related to the world frame, there...

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Bibliographic Details
Main Authors: Young, G.-S., Hong, T.-H., Herman, M., Yang, J.C.S.
Format: Conference Proceeding
Language:English
Subjects:
Calibration
Cameras
Equations
Helium
Kinematics
Laboratories
Manipulators
Mechanical engineering
NIST
Robot vision systems
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Description
Summary:A technique for the calibration of an active camera system is presented. The calibration of manipulator, camera-to-manipulator, camera, and base-to-world is treated in a unified and elegant way. In this approach, the camera frames and manipulator link frames are all related to the world frame, therefore the camera-to-manipulator and base-to-world calibration is very straightforward. The approach is simple, since it uses the form of one equation solving one parameter. Two experiments that verify the accuracy of the technique are reported.< >
ISSN:1063-6919
DOI:10.1109/CVPR.1992.223182