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

Malm, Henrik LU and Heyden, Anders LU orcid (2003) 2003 IEEE/RSJ 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
and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Homography, Translational motions
host publication
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
conference location
Las Vegas, NV, United States
conference dates
2003-10-27 - 2003-10-31
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
2016-04-04 10:21:37
date last changed
2025-10-14 13:28:25
@inproceedings{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}},
  booktitle    = {{IEEE International Conference on Intelligent Robots and Systems}},
  isbn         = {{0-7803-7860-1}},
  keywords     = {{Homography; Translational motions}},
  language     = {{eng}},
  pages        = {{1037--1043}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Simplified Intrinsic Camera Calibration and Hand-Eye Calibration for Robot Vision}},
  url          = {{http://dx.doi.org/10.1109/IROS.2003.1250764}},
  doi          = {{10.1109/IROS.2003.1250764}},
  volume       = {{1}},
  year         = {{2003}},
}