Stereo Camera Head-Eye Calibration Based on Minimum Variance Approach Using Surface Normal Vectors

Autor:	Joong-Jae Lee, Mun-Ho Jeong
Jazyk:	angličtina
Rok vydání:	2018
Předmět:	stereo camera head-eye calibration minimum variance approach surface normal vector humanoid robot Chemical technology TP1-1185
Zdroj:	Sensors, Vol 18, Iss 11, p 3706 (2018)
Druh dokumentu:	article
ISSN:	1424-8220
DOI:	10.3390/s18113706
Popis:	This paper presents a stereo camera-based head-eye calibration method that aims to find the globally optimal transformation between a robot’s head and its eye. This method is highly intuitive and simple, so it can be used in a vision system for humanoid robots without any complex procedures. To achieve this, we introduce an extended minimum variance approach for head-eye calibration using surface normal vectors instead of 3D point sets. The presented method considers both positional and orientational error variances between visual measurements and kinematic data in head-eye calibration. Experiments using both synthetic and real data show the accuracy and efficiency of the proposed method.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/c722d92bc8354fe094eae8ff5352821c Zobrazit plný text záznamu View record in DOAJ Plný text ve formátu PDF Plný text ve formátu HTML
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