Active visual alignment of a mobile stereo camera platform

We present a complete system for automatic alignment and calibration of a stereo pan-tilt camera platform on a mobile robot. The system uses visual data from one or two controlled rotations of the head, and a single forward motion of the robot. We show how the images alone provide head alignment information, camera calibration, and head geometry. We also discuss automatic zeroing of steering angle for a single steering wheel AGV. Results are provided from tests on the working system.