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Active visual alignment of a mobile stereo camera platform

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2 Author(s)
Knight, J. ; Dept. of Eng. Sci., Oxford Univ., UK ; Reid, I.

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

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Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

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