NDLI: Robust active stereo calibration

Content Provider	IEEE Xplore Digital Library
Author	Neubert, J. Ferrier, N.J.
Copyright Year	2002
Description	Author affiliation: Dept. of Mech. Eng., Wisconsin Univ., Madison, WI, USA (Neubert, J.; Ferrier, N.J.)
Abstract	We present a calibration procedure to determine the kinematic parameters of an active stereo system in a robot-centric frame of reference. Our goal was to obtain a solution of sufficient accuracy that the kinematic model information can be used to estimate scene structure given the measured motion/position of the eye and target object's image location. We formulate our problem using canonical coordinates of the rotation group. which enables a particularly simple closed form solution. Additionally, this formulation and solution provides quantitative measures of the resulting solutions. Experiments verify that the solutions are accurate, 3D structure can be estimated from the kinematic models, and the algorithm can indicate when image errors are large enough to produce unreliable results.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	2525
Ending Page	2531
File Size	661556
Page Count	7
File Format	PDF
ISBN	0780372727
DOI	10.1109/ROBOT.2002.1013611
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-05-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness Calibration Cameras Robot kinematics Motion control Robot vision systems Motion measurement Closed-form solution Mobile robots Least squares methods
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Visual servoing with LQR control for mobile robots

Wide-Area Recognition Using Hybrid Motion Stereo

Self-aligning-calibration of a stereo vision system

Vision-Guided Mobile Robot Navigation

Robust local mapping using stereo vision

Camera calibration and Euclidean reconstruction from known observer translations

A motion-information-based vision-tracking system with a stereo camera on mobile robots

Motion vision for mobile robot localization

Active Sensing in Stereotyped Motion

Robust active stereo calibration

Similar Documents

Visual servoing with LQR control for mobile robots

Wide-Area Recognition Using Hybrid Motion Stereo

Self-aligning-calibration of a stereo vision system

Vision-Guided Mobile Robot Navigation

Robust local mapping using stereo vision

Camera calibration and Euclidean reconstruction from known observer translations

A motion-information-based vision-tracking system with a stereo camera on mobile robots

Motion vision for mobile robot localization

Active Sensing in Stereotyped Motion

Robust active stereo calibration