Abstract
A simple and flexible self-calibration method is proposed for an active stereovision platform. It calibrates the parameters implicitly including the intrinsic and extrinsic ones of the visual system with a series of relative positions formed by translational motions of a selected point on the end-effector of a manipulator. A new visual measurement model based on the calibrated parameters is presented to obtain the relative position of an object with a rectangle mark. Then a position-based visual control system with end-effector closed loop is employed for vision guided approaching with the manipulator. Experiments are provided to validate the proposed self-calibration and measurement methods.
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Wang, H., Sun, Y. (2012). New Stereovision Self-calibration Method and Its Application in Vision Guided Approaching. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7508. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33503-7_52
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DOI: https://doi.org/10.1007/978-3-642-33503-7_52
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