Calibrating a mobile camera's extrinsic parameters with respect to its platform

Chang, Yuh-Lin; Aggarwal, J. K.

doi:10.1109/isic.1991.187398

Cited by 5 publications

(6 citation statements)

References 10 publications

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“…As noticed in, e.g., [5], the motion of the vehicle, which is constrained to be planar, does not allow to identify all the unknowns of Eq. (6) (or, equivalently, in Eqs.…”

Section: Frames Relationships In Different Vehicle's Posesmentioning

confidence: 99%

“…(7), (8)). However, the following derivation, inspired by the work in [5], shows how to project (7) to determine the relevant quantities on the basis of the available motion variables. In detail, the vehicle rotates only around the z-axis of the inertial frame, i.e.,…”

Section: Frames Relationships In Different Vehicle's Posesmentioning

confidence: 99%

“…(8) have to be used. Unidentifiability of the vertical component of t v vc (i.e., along the z-axis of the inertial frame) can be understood by direct observation of the fact that the third equation (8) is identically satisfied for any set of data physically achievable with the given robot planar mobility [5].…”

Section: 4mentioning

confidence: 99%

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A non-iterative and effective procedure for simultaneous odometry and camera calibration for a differential drive mobile robot based on the singular value decomposition

Antonelli

Caccavale

Grossi

et al. 2010

Intel Serv Robotics

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Differential-drive mobile robots are usually equipped with video cameras for navigation purposes. In order to ensure proper operational capabilities of such systems, several calibration steps are required to estimate the video-camera intrinsic and extrinsic parameters, the relative pose between the camera and the vehicle frame and the odometric parameters of the vehicle. In this paper, simultaneous estimation of the aforementioned quantities is achieved by a novel and effective calibration procedure. The proposed calibration procedure needs only a proper set of landmarks, on-board measurements given by the wheels encoders, and the camera (i.e., a number of properly taken camera snapshots of the set of landmarks). A major advantage of the proposed technique is that the robot is not required to follow a specific path: the vehicle is asked to roughly move around the landmarks and acquire at least three snapshots at some approximatively known configurations. Moreover, since the whole calibration procedure does not use external measurement devices, it can be used to calibrate, on-site, a team of mobile robots with respect to the same inertial frame, given by the position of the landmarks' tool. Finally, the proposed algorithm is systematic and does not require any iterative step. Numerical simulations and experimental results, obtained by using a mobile robot Khepera III equipped with a low-cost camera, confirm the effectiveness of the proposed technique

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“…As noticed in, e.g., [5], the motion of the vehicle, which is constrained to be planar, does not allow to identify all the unknowns of Eq. (6) (or, equivalently, in Eqs.…”

Section: Frames Relationships In Different Vehicle's Posesmentioning

confidence: 99%

Section: Frames Relationships In Different Vehicle's Posesmentioning

confidence: 99%

See 1 more Smart Citation

A non-iterative and effective procedure for simultaneous odometry and camera calibration for a differential drive mobile robot based on the singular value decomposition

Antonelli

Caccavale

Grossi

et al. 2010

Intel Serv Robotics

View full text Add to dashboard Cite

show abstract

“…Before any quantitative information from the vision system can be used, we have to know the relationship between the robot and the camera coordinate systems, in addition to the camera's intrinsic parameters [8]. Considerable efforts have been made on the development of effective and accurate algorithms to identify the camera's internal characteristics.…”

Section: Calibration Of Camera's Extrinsic Parametersmentioning

confidence: 99%

Simple and Efficient Extrinsic Camera Calibration Based on A Rational Model

Bourgeous

Chen

et al. 2006

2006 International Conference on Mechatronics and Automation

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Calibration of the transformation between two planes, the image plane and the 2D platform, is important for applications where 2D metric information on the image plane is used to compute the 3D information in a world coordinate system. Efforts have been taken in computer vision literature to perform a full-scale camera calibration, including intrinsic and extrinsic parameters. For some applications, calibration of intrinsic parameters is not required as often as that of the extrinsic parameters. This paper addresses the problem of calibrating a camera's extrinsic parameters with respect to a 2D platform to which a camera is observing. A rational approximation method is proposed. Simulation and experimental results show that the proposed rational approximation method achieves comparable accuracy with the well-known homographybased approach. This work is motivated by our mobile sensor network project. Other relevant applications include vision-based metrology.Index Terms-Extrinsic parameter calibration, homographybased method, sensor networks.

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“…Camera based localization approach, although need lots of calculation, could provide a globally unique localization results. On calibration of a camera odometry system, method of calibrating the camera extrinsic parameter related to the robot frame is proposed [18] [19]. And in [20], a simultaneous calibration method is proposed to calibrate the parameters of both camera extrinsic and odometry.…”

mentioning

confidence: 99%

Simultaneous calibration of odometry and camera extrinsic for a differential driven mobile robot

Tang

Liu

2015

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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In this paper, a new method on simultaneous calibration of odometry and camera extrinsic for a two-wheel differential driven mobile robot equipped with a fixed pinhole camera, is proposed. By observing several vision landmarks in the environment and recording the measurements from both encoders and camera during an arbitrary robot motion, the calibration could be automatically done. Neither a special trajectory need to be followed, nor other devices are used during the calibration process. Compared with other current solutions, non-holonomic constraint of the mobile robot kinematics is utilized to estimate the wheel axle and simplify the calibration problem. Experiment is conducted to validate the method.

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Calibrating a mobile camera's extrinsic parameters with respect to its platform

Cited by 5 publications

References 10 publications

A non-iterative and effective procedure for simultaneous odometry and camera calibration for a differential drive mobile robot based on the singular value decomposition

A non-iterative and effective procedure for simultaneous odometry and camera calibration for a differential drive mobile robot based on the singular value decomposition

Simple and Efficient Extrinsic Camera Calibration Based on A Rational Model

Simultaneous calibration of odometry and camera extrinsic for a differential driven mobile robot

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