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Camera calibration for a mobile robot prototype

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Abstract

Stereovision is an effective technique to use a CCD video camera to determine the 3D position of a target object from two or more simultaneous views of the scene. Camera calibration is a central issue in finding the position of objects in a stereovision system. This is usually carried out by calibrating each camera independently, and then applying a geometric transformation of the external parameters to find the geometry of the stereo setting. After calibration, the distance of various target objects in the scene can be calculated with CCD video cameras, and recovering the 3D structure from 2D images becomes simpler. However, the process of camera calibration is complicated. Based on the ideal pinhole model of a camera, we describe formulas to calculate intrinsic parameters that specify the correct camera characteristics, and extrinsic parameters that describe the spatial relationship between the camera and the world coordinate system. A simple camera calibration method for our CCD video cameras and corresponding experiment results are also given.

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Authors and Affiliations

  1. Department of Electrical and Electronics Engineering, Oita University, 700 Dannoharu, 870-1192, Oita, Japan

    J. Wang & M. Sugisaka

Authors
  1. J. Wang
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  2. M. Sugisaka
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Corresponding author

Correspondence to J. Wang.

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Wang, J., Sugisaka, M. Camera calibration for a mobile robot prototype. Artif Life Robotics 7, 91–94 (2003). https://doi.org/10.1007/BF02481154

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  • DOI: https://doi.org/10.1007/BF02481154

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