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This paper presents a camera calibration method that could be used in humanoid robot vision system. Extended Kalman filter is used to estimate camera parameters. This method can take planer board feature points of the image or the object's 3D axis as inputs when doing known motion, test results show this algorithm can get good results. If the camera parameters are known, the relationship between a reference coordinate system and camera coordinate system can not get in high precision, in this paper, a method based on the arm motion is discussed.