Automatic calibration of a range camera using motion

Johan Forsberg

doi:10.1117/12.189093

13 October 1994 Automatic calibration of a range camera using motion

Johan Forsberg

Proceedings Volume 2354, Intelligent Robots and Computer Vision XIII: 3D Vision, Product Inspection, and Active Vision; (1994) https://doi.org/10.1117/12.189093
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States

Abstract

This paper presents a method for calibration of a sheet of light range camera using robot motion information from odometers instead of an absolute reference object in a static scene. The calibration is integrated with the robot position estimation, and performed during normal operation of the robot. This makes it possible to detect when parameters change during operation, and to recalibrate automatically. To estimate the calibration parameters as well as the robot position relative to the surface a Kalman filter is used. The system is highly nonlinear, and a normal extended Kalman filter will often fail to converge to the correct value. This is solved by changing the coordinate frame in which the filtering occurs, taking into account the resulting correlations between the estimate and measurement. The calibration assumes that initial estimates of the calibration parameters are available.

Citation Download Citation

Johan Forsberg "Automatic calibration of a range camera using motion", Proc. SPIE 2354, Intelligent Robots and Computer Vision XIII: 3D Vision, Product Inspection, and Active Vision, (13 October 1994); https://doi.org/10.1117/12.189093

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
10 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Calibration

Cameras

Filtering (signal processing)

Error analysis

Optical filters

CCD cameras

Imaging systems

Show All Keywords

Keywords/Phrases

Search In:

Publication Years