The basic principles of camera calibration are first analyzed, and the method of camera calibrate based on 2D plane circular array is presented. The first process is the use of the canny edge detection operator, and get the edge coordinates of ellipse. Then the ellipse is fitted to obtain the center point of the ellipse, and the centre point coordinates of ellipse is used to regard the feature points to implement camera caliblation. Finally, Zhang Zhengyou's method is used to obtain internal and external parameters of camera. This calibration method can be used to calbration of robot system.

Segmentation algorithm of 3D point cloud data based on region growing is proposed, the main idea is as follows: First, seed points in each region of object surface are searched, and then, starts from the seed point, the process of regional growing is done, which all the point cloud data belong to same surface are included until some discontinuous set of points appear. The algorithm is implemented under C, and the 3D point cloud data are showed by OPENGL software.

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We present a camera calibration method based on vanishing point, that is, the vanishing points of two groups of parallel lines on the target plane are used to achieve camera calibration. A series of known positions points on target plane are used as the feature points, and the target images are recorded, the image coordinates of feature points are used to calculate the coordinates of vanishing point, then the matrix between feature points and camera is used to obtain internal parameters of camera. Experimental results show that the proposed calibration algorithm is correct, simple and convenient.

The image segmentation algorithm based on facet model fitting is proposed, we firstly employ the facet model to fit the image intensity, and then calculate the fitting error. After acquiring seed segmentation region from the fitting error distribution, the region growing algorithm is implemented to enlarge the seed region to some region boundary. Finally, a new region merging algorithm is implemented to merge adjacent regipons into some large regions. Experiment results intestify the correctness of our proposed segmentation algorithm