Extrinsic calibration of a camera-robot system under non-holonomic constraints

A novel approach for the extrinsic calibration of a camera-robot system, i.e. the estimation of the pose of the camera with respect to the robot coordinate system, is presented. The method is based on the relative pose of a planar pattern as seen by the camera, estimated along with a predefined set...

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Detalles Bibliográficos
Autores principales: Araguás, Gastón, Perez Paina, Gonzalo, Steiner, Guillermo, Canali, Luis
Formato: Objeto de conferencia
Lenguaje:Inglés
Publicado: 2011
Materias:
Ciencias Informáticas
Extrinsic Calibration
Camera-Robot System
Acceso en línea:http://sedici.unlp.edu.ar/handle/10915/125315
Aporte de:
SEDICI (UNLP) de Universidad Nacional de La Plata
id I19-R120-10915-125315
record_format dspace
institution Universidad Nacional de La Plata
institution_str I-19
repository_str R-120
collection SEDICI (UNLP)
language Inglés
topic Ciencias Informáticas
Extrinsic Calibration
Camera-Robot System
spellingShingle Ciencias Informáticas
Extrinsic Calibration
Camera-Robot System
Araguás, Gastón
Perez Paina, Gonzalo
Steiner, Guillermo
Canali, Luis
Extrinsic calibration of a camera-robot system under non-holonomic constraints
topic_facet Ciencias Informáticas
Extrinsic Calibration
Camera-Robot System
description A novel approach for the extrinsic calibration of a camera-robot system, i.e. the estimation of the pose of the camera with respect to the robot coordinate system, is presented. The method is based on the relative pose of a planar pattern as seen by the camera, estimated along with a predefined set of simple robot motions. This set has been generated so as to exploit the kinematic constraints imposed by the robot architecture and the relative pose between the pattern and the camera coordinate system. The resulting calibration procedure is very simple, making it suitable to be used in a broad range of applications. Experimental evaluations on both synthetic and real data demonstrate the validity of the proposed method.
format Objeto de conferencia
Objeto de conferencia
author Araguás, Gastón
Perez Paina, Gonzalo
Steiner, Guillermo
Canali, Luis
author_facet Araguás, Gastón
Perez Paina, Gonzalo
Steiner, Guillermo
Canali, Luis
author_sort Araguás, Gastón
title Extrinsic calibration of a camera-robot system under non-holonomic constraints
title_short Extrinsic calibration of a camera-robot system under non-holonomic constraints
title_full Extrinsic calibration of a camera-robot system under non-holonomic constraints
title_fullStr Extrinsic calibration of a camera-robot system under non-holonomic constraints
title_full_unstemmed Extrinsic calibration of a camera-robot system under non-holonomic constraints
title_sort extrinsic calibration of a camera-robot system under non-holonomic constraints
publishDate 2011
url http://sedici.unlp.edu.ar/handle/10915/125315
work_keys_str_mv AT araguasgaston extrinsiccalibrationofacamerarobotsystemundernonholonomicconstraints
AT perezpainagonzalo extrinsiccalibrationofacamerarobotsystemundernonholonomicconstraints
AT steinerguillermo extrinsiccalibrationofacamerarobotsystemundernonholonomicconstraints
AT canaliluis extrinsiccalibrationofacamerarobotsystemundernonholonomicconstraints
bdutipo_str Repositorios
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