Camera calibration based on Extended Kalman Filter using robot´s arm motion

Author

Chen, Guodong ; Xia, Zeyang ; Ming, Xie ; Lining, Sun ; Ji, Junhong ; Du, Zhijiang

Author_Institution

State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China

fYear

2009

fDate

14-17 July 2009

Firstpage

1839

Lastpage

1844

Abstract

This paper presents a camera calibration method that could be used in humanoid robot vision system. Extended Kalman filter is used to estimate camera parameters. This method can take planer board feature points of the image or the object´s 3D axis as inputs when doing known motion, test results show this algorithm can get good results. If the camera parameters are known, the relationship between a reference coordinate system and camera coordinate system can not get in high precision, in this paper, a method based on the arm motion is discussed.

Keywords

Kalman filters; calibration; cameras; humanoid robots; manipulators; motion control; parameter estimation; robot vision; camera calibration method; camera coordinate system; camera parameter estimation; extended Kalman filter; humanoid robot vision system; object 3D axis; planer board feature point; reference coordinate system; robot arm motion; Calibration; Cameras; Humanoid robots; Laboratories; Machine vision; Medical robotics; Paper technology; Pixel; Robot kinematics; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-2852-6

Type

conf

DOI

10.1109/AIM.2009.5229790

Filename

5229790