Improving camera calibration by using multiple frames in hand-eye robotic systems

Jorge Dias; A. de Almeida; Helder Araujo; Jorge Batista

Improving camera calibration by using multiple frames in hand-eye robotic systems

Jorge Dias, A. de Almeida, Helder Araujo, Jorge Batista

Electrical Engineering

University of Coimbra

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper addresses the geometric modelling aspects related with the use of a pair of video cameras mounted on a six degrees-of-freedom manipulator in an hand-eye configuration. The information obtained by these sensors shall be used to generate the depth map of the environment where the manipulator works. The procedure to determining the image formation parameters is known by camera calibration and a method to optimize these calibration parameters is presented in the paper. After present the calibration technique used, we develop a calibration matrix invariant to movement. The optimization process is applied to this matrix to obtain a better performance in the numerical data.

Original language	British English
Title of host publication	Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91
Pages	285-291
Number of pages	7
State	Published - 1992
Event	Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems - IROS '91 - Osaka, Jpn Duration: 3 Nov 1991 → 5 Nov 1991

Publication series

Name	Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91

Conference

Conference	Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems - IROS '91
City	Osaka, Jpn
Period	3/11/91 → 5/11/91

Cite this

@inproceedings{5d4056e62712400381c1bcde3f7d21d3,

title = "Improving camera calibration by using multiple frames in hand-eye robotic systems",

abstract = "This paper addresses the geometric modelling aspects related with the use of a pair of video cameras mounted on a six degrees-of-freedom manipulator in an hand-eye configuration. The information obtained by these sensors shall be used to generate the depth map of the environment where the manipulator works. The procedure to determining the image formation parameters is known by camera calibration and a method to optimize these calibration parameters is presented in the paper. After present the calibration technique used, we develop a calibration matrix invariant to movement. The optimization process is applied to this matrix to obtain a better performance in the numerical data.",

author = "Jorge Dias and {de Almeida}, A. and Helder Araujo and Jorge Batista",

year = "1992",

language = "British English",

isbn = "078030067X",

series = "Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91",

pages = "285--291",

booktitle = "Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91",

note = "Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems - IROS '91 ; Conference date: 03-11-1991 Through 05-11-1991",

}

Dias, J, de Almeida, A, Araujo, H & Batista, J 1992, Improving camera calibration by using multiple frames in hand-eye robotic systems. in Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91. Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91, pp. 285-291, Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems - IROS '91, Osaka, Jpn, 3/11/91.

Improving camera calibration by using multiple frames in hand-eye robotic systems. / Dias, Jorge; de Almeida, A.; Araujo, Helder et al.
Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91. 1992. p. 285-291 (Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Improving camera calibration by using multiple frames in hand-eye robotic systems

AU - Dias, Jorge

AU - de Almeida, A.

AU - Araujo, Helder

AU - Batista, Jorge

PY - 1992

Y1 - 1992

N2 - This paper addresses the geometric modelling aspects related with the use of a pair of video cameras mounted on a six degrees-of-freedom manipulator in an hand-eye configuration. The information obtained by these sensors shall be used to generate the depth map of the environment where the manipulator works. The procedure to determining the image formation parameters is known by camera calibration and a method to optimize these calibration parameters is presented in the paper. After present the calibration technique used, we develop a calibration matrix invariant to movement. The optimization process is applied to this matrix to obtain a better performance in the numerical data.

AB - This paper addresses the geometric modelling aspects related with the use of a pair of video cameras mounted on a six degrees-of-freedom manipulator in an hand-eye configuration. The information obtained by these sensors shall be used to generate the depth map of the environment where the manipulator works. The procedure to determining the image formation parameters is known by camera calibration and a method to optimize these calibration parameters is presented in the paper. After present the calibration technique used, we develop a calibration matrix invariant to movement. The optimization process is applied to this matrix to obtain a better performance in the numerical data.

UR - http://www.scopus.com/inward/record.url?scp=0026988910&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0026988910

SN - 078030067X

T3 - Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91

SP - 285

EP - 291

BT - Proc 91 IEEE RSJ Int Workshop Intell Robots Syst IROS 91

T2 - Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems - IROS '91

Y2 - 3 November 1991 through 5 November 1991

ER -

Improving camera calibration by using multiple frames in hand-eye robotic systems

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Publication series

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