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Simplified Intrinsic Camera Calibration and Hand-Eye Calibration for Robot Vision

Malm, Henrik LU and Heyden, Anders LU (2003) 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems In IEEE International Conference on Intelligent Robots and Systems 1. p.1037-1043
Abstract
In this paper we investigate how intrinsic camera calibration and hand-eye calibration can be performed on a robot vision system using the simplest possible motions and a planar calibration object The standard methods on plane-based camera calibration are extended with theory on how to use pure translational motions for the intrinsic calibration and we see how hand-eye calibration can be performed within the same framework. The calibration of two cameras in a stereo head configuration is shown to be an interesting application of the developed theory. Results of experiments on a real robot vision system are presented.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Homography, Translational motions
in
IEEE International Conference on Intelligent Robots and Systems
volume
1
pages
1037 - 1043
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
external identifiers
  • WOS:000187883300168
  • Other:CODEN: 85RBAH
  • Scopus:0348040463
ISBN
0-7803-7860-1
DOI
10.1109/IROS.2003.1250764
language
English
LU publication?
yes
id
0592b128-98d6-46f1-998c-16fc3699eaaa (old id 611905)
date added to LUP
2007-11-30 13:57:01
date last changed
2016-10-13 04:39:34
@misc{0592b128-98d6-46f1-998c-16fc3699eaaa,
  abstract     = {In this paper we investigate how intrinsic camera calibration and hand-eye calibration can be performed on a robot vision system using the simplest possible motions and a planar calibration object The standard methods on plane-based camera calibration are extended with theory on how to use pure translational motions for the intrinsic calibration and we see how hand-eye calibration can be performed within the same framework. The calibration of two cameras in a stereo head configuration is shown to be an interesting application of the developed theory. Results of experiments on a real robot vision system are presented.},
  author       = {Malm, Henrik and Heyden, Anders},
  isbn         = {0-7803-7860-1},
  keyword      = {Homography,Translational motions},
  language     = {eng},
  pages        = {1037--1043},
  publisher    = {ARRAY(0xc259d08)},
  series       = {IEEE International Conference on Intelligent Robots and Systems},
  title        = {Simplified Intrinsic Camera Calibration and Hand-Eye Calibration for Robot Vision},
  url          = {http://dx.doi.org/10.1109/IROS.2003.1250764},
  volume       = {1},
  year         = {2003},
}