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We present an advanced method of system calibration measurement to improve the precision in obtaining measurements of 3-D coordinates. This system is comprised of a CMOS array sensor and an infrared (IR) emitter. Improving the accuracy requires improving the method of sensor calibration. In this paper, a process of calibrating systems for geometry determination and positioning a mobile robot is developed. The system calibration method uses the perspective projection model based on the pinhole model, taking into account the intrinsic and extrinsic parameters of the camera together with the parameters of the pattern plane. We also consider the distortion effects of the lenses and the errors obtained in detection. To run the method, the applied calibration pattern is a planar surface with several circular points. The CMOS camera is equipped with a short-focal-length lens.