Calibration of the active stereo vision system KASTOR with standardized perspective matrices

F. Wallner; Peter Weckesser; Ruediger Dillmann

doi:10.1117/12.169825

1 March 1994 Calibration of the active stereo vision system KASTOR with standardized perspective matrices

F. Wallner, Peter Weckesser, Ruediger Dillmann

Author Affiliations +

Proceedings Volume 2252, Optical 3D Measurement Techniques II: Applications in Inspection, Quality Control, and Robotics; (1994) https://doi.org/10.1117/12.169825
Event: Optical 3D Measurement Techniques II: Applications in Inspection, Quality Control, and Robotics, 1993, Zurich, Switzerland

Abstract

In this paper the new active stereo vision head of the IPR is presented. It is designed to serve as a flexible sensing device mounted on a mobile robot platform. KASTOR has eight motorized optical and mechanical degrees of freedom. The article describes the design of KASTOR as well as the real-time vision system it is connected to. Then a new head calibration technique is presented. The perspective matrices are computed directly without the need to determine internal or external camera parameters. This is achieved by the observation of a reference object in a scene. As soon as the robot moves any of its degrees of freedom, the calibration has to be updated. However it is difficult and time expensive to define a reference object when the head is mounted on a mobile robot. A solution is to compute all possible perspective matrices in advance and to store them in the memory. During autonomous operation the correct matrices are selected according to the head-configuration. A standardizing technique is presented, which reduces the amount of matrices to be stored significantly. Finally the article discusses the quality of calibration when in use as active sensing device on a mobile robot.

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F. Wallner, Peter Weckesser, and Ruediger Dillmann "Calibration of the active stereo vision system KASTOR with standardized perspective matrices", Proc. SPIE 2252, Optical 3D Measurement Techniques II: Applications in Inspection, Quality Control, and Robotics, (1 March 1994); https://doi.org/10.1117/12.169825

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