Kinematic calibration of a binocular head using stereo vision with the complete and parametrically continuous model

Sheng Wen Shih, Jia Sheng Jin, Kuo Hua Wei, Yi Ping Hung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper describes the process of calibrating the kinematic model for an active binocular head having four revolute joints and two prismatic joints. We use the complete and parametrically continuous (CPC) model proposed by Zhuang and Roth in 1990 to model the motorized head (or camera positioning system), and use a closed form solution to identify its CPC kinematic parameters. The calibration procedure is divided into two stages. In the first stage, the two cameras are replaced by two end-effector calibration plates each having nine circles. The two removed cameras can be used to build a stereo vision system for observing the varying positions and orientations of the end-effector calibration plates when moving the joints of the head. The positions and orientations of the calibration plates, or equivalently, of the end-effectors, can be determined from the stereo measurements. The acquired data are then used to calibrate the kinematic parameters. In the second stage, the cameras are remounted to the IIS-head, and a method proposed by Tsai is used to calibrate the hand-eye relation. Once the above kinematics calibration is done, the binocular head can be controlled to gaze or track 3-D targets.

Original languageEnglish
Title of host publicationProceedings of SPIE - The International Society for Optical Engineering
PublisherPubl by Int Soc for Optical Engineering
Pages643-657
Number of pages15
ISBN (Print)0819410268
Publication statusPublished - 1993
EventIntelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision - Boston, MA, USA
Duration: Nov 16 1992Nov 18 1992

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
Volume1825
ISSN (Print)0277-786X

Conference

ConferenceIntelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision
CityBoston, MA, USA
Period11/16/9211/18/92

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Kinematic calibration of a binocular head using stereo vision with the complete and parametrically continuous model'. Together they form a unique fingerprint.

Cite this