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

Content Provider	IEEE Xplore Digital Library
Author	Chang, Y.-L. Aggarwal, J.K.
Copyright Year	1991
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Texas Univ., Austin, TX, USA (Chang, Y.-L.; Aggarwal, J.K.)
Abstract	The problem of estimating the fixed rotation and translation between the camera's and the mobile robot's coordinate systems given a sequence of monocular images and robot movements is addressed. Existing hand/eye calibration algorithms are not directly applicable because they require the robot hand to have at least two rotational degrees of freedom, while a mobile robot can usually execute only planar motion. By using the proper representation for camera rotation, the proposed algorithm decomposes the calibration task, and thus is able to calibrate all the three rotational degrees of freedom and the two translational degrees of freedom. The remaining translational degree of freedom is not needed for the purpose of camera-centered robot vision applications. To recover the camera's rotation motion between two images, the algorithm uses inverse perspective geometry constraints on a rectangular corner. Complicated calibration patterns are not needed and thus the algorithm can be easily implemented and used in structured environments.
Starting Page	443
Ending Page	448
File Size	620716
Page Count	6
File Format	PDF
ISBN	0780301064
ISSN	21589860
DOI	10.1109/ISIC.1991.187398
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1991-08-13
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot vision systems Robot kinematics Mobile robots Cameras Calibration Robot sensing systems Machine vision Computer vision Mobile computing Computational geometry
Content Type	Text
Resource Type	Article

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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
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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