NDLI: Autonomous Stereo Camera Parameter Estimation for Outdoor Visual Servoing

Content Provider	IEEE Xplore Digital Library
Author	Ziraknejad, N. Tafazoli, S. Lawrence, P.D.
Copyright Year	2007
Description	Author affiliation: Univ. of British Columbia, Vancouver (Ziraknejad, N.)
Abstract	In the majority of vision applications, sensor calibration is a prerequisite to proper use of the sensor for both measurement and control. The objective in camera calibration is to estimate a set of parameters to construct a mapping between the 3D position of a target point and its 2D image coordinates. In this paper an autonomous stereo camera calibration technique with applications in industrial outdoor visual servoing systems is presented. The stereo camera model obtained was used to estimate the pose of the target object during the robot servoing process. The heavy-duty stereo camera rig was installed on the torso of an outdoor 3DOF robotic manipulator. An efficient iterative least- squares parameter estimation algorithm was used to estimate the transformation parameters between the 3D world coordinates of the target object and its 2D image coordinates in the stereo image planes. The stereo camera calibration is entirely an autonomous process as the robot moves the calibration tool within its workspace and the stereo camera model is produced after the data collection process. The stereo cameras are treated as a single unit and a single transformation is obtained for the stereo camera pair in the system. The calibration process is fast, efficient and no human interaction is required during the process.
Starting Page	157
Ending Page	162
File Size	4775045
Page Count	6
File Format	PDF
ISBN	9781424415656
ISSN	15512541
DOI	10.1109/MLSP.2007.4414299
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-08-27
Publisher Place	Greece
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Parameter estimation Visual servoing Robot vision systems Calibration Robot kinematics Service robots Electrical equipment industry Torso Manipulators
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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