Volumetric Calibration of Stereo Camera in Visual Servo Based Robot Control

被引：0
|
作者：
Perez, Ulises [2 ]
Cho, Sohyung [1 ]
Asfour [2 ]
Shihab [2 ]
机构：
[1] So Illinois Univ, Edwardsville, IL 62026 USA
[2] Univ Miami, Coral Gables, FL 33146 USA
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2009年 / 6卷 / 01期
关键词：
Camera calibration; Lens distortion; Visual servo control;
D O I：
10.5772/6767
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The primary objective of the paper is to propose a calibration method for a stereo camera used in a visual servo control for a robot manipulator. Specifically, projection matrix between the stereo camera and world coordinates is established using few calibration points and solved using the single value decomposition technique. Then calibration accuracy is compared for a randomized and designed set of points, and economical number of calibration points is recommended. Additionally, the non-linear lens distortion is modeled and corrected to improve the accuracy. In addition, this research focuses on the development and implementation of a fully automated visual servo control system using a stereo camera that is calibrated by proposed method.
引用
收藏
页码：35 / 42
页数：8
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