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

研究成果: 書貢獻/報告類型會議貢獻

4 引文 斯高帕斯(Scopus)

摘要

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.
原文英語
主出版物標題Proceedings of SPIE - The International Society for Optical Engineering
發行者Publ by Int Soc for Optical Engineering
頁面643-657
頁數15
ISBN(列印)0819410268
出版狀態已發佈 - 1993
事件Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision - Boston, MA, USA
持續時間: 11月 16 199211月 18 1992

出版系列

名字Proceedings of SPIE - The International Society for Optical Engineering
1825
ISSN(列印)0277-786X

會議

會議Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision
城市Boston, MA, USA
期間11/16/9211/18/92

ASJC Scopus subject areas

  • 電子、光磁材料
  • 凝聚態物理學
  • 電腦科學應用
  • 應用數學
  • 電氣與電子工程

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