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Simplified intrinsic camera calibration and hand-eye calibration for robot vision

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2 Author(s)
H. Malm ; Centre for Mathematical Sci., Lund Inst. of Technol., Sweden ; A. Heyden

In this paper we investigate how intrinsic camera calibration and hand-eye calibration can be performed on a robot vision system using the simplest possible motions and a planar calibration object. The standard methods on plane-based camera calibration are extended with theory on how to use pure translational motions for the intrinsic calibration and we see how hand-eye calibration can be performed within the same framework. The calibration of two cameras in a stereo head configuration is shown to be an interesting application of the developed theory. Results of experiments on a real robot vision system are presented.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:1 )

Date of Conference:

27-31 Oct. 2003