DocumentCode :
2390863
Title :
Adaptive camera calibration with measurable position of fixed features
Author :
Kapadia, Apoorva ; Braganza, David ; Dawson, Darren M. ; McIntyre, Michael L.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., Clemson, SC
fYear :
2008
fDate :
11-13 June 2008
Firstpage :
3869
Lastpage :
3874
Abstract :
In this paper, a novel self-calibration method is developed for a camera attached to a mechanical system with known kinematics. An innovative least squares estimator is developed to compute the unknown intrinsic and extrinsic camera calibration parameters while an adaptive parameterized error prediction formulation is presented to compensate for the unknown pixel coordinates of the static objects projection. The estimator is based on a Lyapunov stability analysis which verifies convergence of the signals provided a persistent excitation condition is satisfied. Simulation results with and without additive pixel noise are also provided to illustrate the performance and robustness of the algorithm.
Keywords :
Lyapunov methods; calibration; cameras; estimation theory; image processing; least squares approximations; stability; Lyapunov stability; adaptive camera calibration; adaptive parameterized error prediction; least squares estimator; mechanical system; pixel coordinates; self-calibration; signals convergence; static objects projection; Additive noise; Calibration; Cameras; Convergence; Kinematics; Least squares approximation; Lyapunov method; Mechanical systems; Position measurement; Signal analysis;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2008
Conference_Location :
Seattle, WA
ISSN :
0743-1619
Print_ISBN :
978-1-4244-2078-0
Electronic_ISBN :
0743-1619
Type :
conf
DOI :
10.1109/ACC.2008.4587097
Filename :
4587097
Link To Document :
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