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Self-calibration from Image Derivatives for Active Vision Systems

Malm, Henrik LU and Heyden, Anders LU (2002) Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002 In Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002 p.1116-1121
Abstract
In this paper we show how to calibrate a camera, mounted on a robot, with respect to the intrinsic camera parameters when the so-called hand-eye transformation between the robot hand and the camera is unknown. The calibration is based directly on the spatial and temporal derivatives in an image sequence and do not need any matching and tracking of features or a reference object. The calibration is to be performed on an active robot vision system where the motion of the robot hand can be controlled. A minimum of 3 non co-planar translations of the robot hand are needed for the calculation. In conjunction with the intrinsic camera calibration the orientation of the camera, with respect to the robot hand, is calculated. The position of the... (More)
In this paper we show how to calibrate a camera, mounted on a robot, with respect to the intrinsic camera parameters when the so-called hand-eye transformation between the robot hand and the camera is unknown. The calibration is based directly on the spatial and temporal derivatives in an image sequence and do not need any matching and tracking of features or a reference object. The calibration is to be performed on an active robot vision system where the motion of the robot hand can be controlled. A minimum of 3 non co-planar translations of the robot hand are needed for the calculation. In conjunction with the intrinsic camera calibration the orientation of the camera, with respect to the robot hand, is calculated. The position of the camera can then also be obtained. At each stage only the image derivatives and the known motion of the robot hand are used. For the full, intrinsic and extrinsic, calibration a total of 5 distinct motions are used. The algorithm has been tested in extensive experiments with respect to e.g. noise sensitivity. (Less)
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Image derivatives, Image sequences, Self calibration algorithms, Hand eye transformation
in
Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
pages
1116 - 1121
publisher
Nanyang Technological University
conference name
Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002
external identifiers
  • Scopus:2342444425
ISBN
9810474806
DOI
10.1109/ICARCV.2002.1238580
language
English
LU publication?
yes
id
d0d66273-668e-44d0-9e61-646fa0f54e4d (old id 610567)
date added to LUP
2007-11-28 11:24:03
date last changed
2016-10-13 04:39:35
@misc{d0d66273-668e-44d0-9e61-646fa0f54e4d,
  abstract     = {In this paper we show how to calibrate a camera, mounted on a robot, with respect to the intrinsic camera parameters when the so-called hand-eye transformation between the robot hand and the camera is unknown. The calibration is based directly on the spatial and temporal derivatives in an image sequence and do not need any matching and tracking of features or a reference object. The calibration is to be performed on an active robot vision system where the motion of the robot hand can be controlled. A minimum of 3 non co-planar translations of the robot hand are needed for the calculation. In conjunction with the intrinsic camera calibration the orientation of the camera, with respect to the robot hand, is calculated. The position of the camera can then also be obtained. At each stage only the image derivatives and the known motion of the robot hand are used. For the full, intrinsic and extrinsic, calibration a total of 5 distinct motions are used. The algorithm has been tested in extensive experiments with respect to e.g. noise sensitivity.},
  author       = {Malm, Henrik and Heyden, Anders},
  isbn         = {9810474806},
  keyword      = {Image derivatives,Image sequences,Self calibration algorithms,Hand eye transformation},
  language     = {eng},
  pages        = {1116--1121},
  publisher    = {ARRAY(0xaa31108)},
  series       = {Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002},
  title        = {Self-calibration from Image Derivatives for Active Vision Systems},
  url          = {http://dx.doi.org/10.1109/ICARCV.2002.1238580},
  year         = {2002},
}