Details
| Original language | English |
|---|---|
| Pages | 85-91 |
| Number of pages | 7 |
| Publication status | Published - 2014 |
| Event | 2014 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO) - Vienna, Austria, Wien, Austria Duration: 1 Sept 2014 → 3 Sept 2014 |
Conference
| Conference | 2014 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO) |
|---|---|
| Abbreviated title | ICINCO |
| Country/Territory | Austria |
| City | Wien |
| Period | 1 Sept 2014 → 3 Sept 2014 |
Abstract
This paper describes two methods for determining the extrinsic calibration parameters of a projector with respect to the robot hand. One of them simultaneously solves the transformation between a camera with respect to the robot base. Self-calibration means that no sort of calibration rig like a chessboard is needed. Since the projector has no exteroceptive capabilities, a camera is placed in the environment or rigidly attached to the robot base to detect the projected pattern. At different robot configurations correspondences between the camera and projector are established to recover the transformation between them up to an unknown scale factor. The common known formulations AX = XB and AX = ZB can be arranged in a linear form with respect to the unknown extrinsic parameters and scale factors, and solved in least square sense.
Keywords
- Motion estimation, Pattern projection, Self-calibration, Structured light system
ASJC Scopus subject areas
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Information Systems
- Engineering(all)
- Control and Systems Engineering
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2014. 85-91 Paper presented at 2014 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Wien, Austria.
Research output: Contribution to conference › Paper › Research › peer review
}
TY - CONF
T1 - Hand-projector Self-calibration Using Structured Light.
AU - Wieghardt, Christian Sebastian
AU - Wagner, Bernardo
N1 - Copyright: Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2014
Y1 - 2014
N2 - This paper describes two methods for determining the extrinsic calibration parameters of a projector with respect to the robot hand. One of them simultaneously solves the transformation between a camera with respect to the robot base. Self-calibration means that no sort of calibration rig like a chessboard is needed. Since the projector has no exteroceptive capabilities, a camera is placed in the environment or rigidly attached to the robot base to detect the projected pattern. At different robot configurations correspondences between the camera and projector are established to recover the transformation between them up to an unknown scale factor. The common known formulations AX = XB and AX = ZB can be arranged in a linear form with respect to the unknown extrinsic parameters and scale factors, and solved in least square sense.
AB - This paper describes two methods for determining the extrinsic calibration parameters of a projector with respect to the robot hand. One of them simultaneously solves the transformation between a camera with respect to the robot base. Self-calibration means that no sort of calibration rig like a chessboard is needed. Since the projector has no exteroceptive capabilities, a camera is placed in the environment or rigidly attached to the robot base to detect the projected pattern. At different robot configurations correspondences between the camera and projector are established to recover the transformation between them up to an unknown scale factor. The common known formulations AX = XB and AX = ZB can be arranged in a linear form with respect to the unknown extrinsic parameters and scale factors, and solved in least square sense.
KW - Motion estimation
KW - Pattern projection
KW - Self-calibration
KW - Structured light system
UR - http://www.scopus.com/inward/record.url?scp=84910069988&partnerID=8YFLogxK
U2 - 10.5220/0005065200850091
DO - 10.5220/0005065200850091
M3 - Paper
SP - 85
EP - 91
T2 - 2014 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO)
Y2 - 1 September 2014 through 3 September 2014
ER -