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Complete calibration of the autonomous hand-eye robot JANUS

: Garcia, C.

urn:nbn:de:0011-b-733280 (814 KByte PDF)
MD5 Fingerprint: e631b6c6adf9ba37558bbf86c8ea703e
Erstellt am: 07.08.2002

Sankt Augustin: GMD Forschungszentrum Informationstechnik, 1998, 56 S.
GMD Report, 2
Bericht, Elektronische Publikation
Fraunhofer AIS ( IAIS) ()
kinematic calibration; camera calibration; object pose; stereo vision

The current prototype of the JANUS robot consists of two arms and a neck with two mounted color cameras. Calibrating JANUS means to find the geometric relationships between each of these components and the reference coordinate system of the robot. The calibration procedure that we present in this report is completely vision-based: the relationships between each camera and the neck and between each arm and the neck are determined using visual measurements, which leads to a low-cost and automatic setup. For this purpose, we developed two main algorithms. The first one implements a non-linear optimization method using a quaternions formulation for camera calibration from 2D to 3D point or line correspondences. The second one is a real-time camera pose estimation method based on the iterative use of a paraperspective camera model. Using the results of calibration we show how we solve some classical computational stereo vision and 3D reconstruction problems. Also are provided experimental results for each of the different steps of the complete calibration of JANUS.