Abstract
In order to initialize a camera-guided grasping of a known object, rough 3-D localization data of the object relative to the camera are used. Although the 3-D data need not be more than rough, we need the intrinsic parameters of the camera for calculating these 3-D data. The extrinsic parameters are required to move the camera.
This paper proposes a method for simplified automatic calibration of a mobile camera. The intrinsic parameters are estimated separately in succession with the help of a grid of points. In order to determine the extrinsic parameters, the location of the camera relative to the gripper is needed. This location can be calculated using a certain location of the camera relative to the scene coordinate frame. The exactness of this calibration will suffice for the support a camera-guided grasping.
Preview
Unable to display preview. Download preview PDF.
References
Beyer H.A., Untersuchungen zur geometrischen Qualität der Datenübertragung bei der Aufnahme mit CCD-Kameras, 13. DAGM-Symposium München, Springer-Verlag, Berlin, pp. 328–336, Oct 1991
Crowley J.L., Stelmaszyk P., Measurement and integration of 3-D structures by tracking edge lines, O. Faugeras (Ed.) First Eur. Conf. on Computer Vision, Antibes, France, Springer-Verlag, Berlin, pp. 269–280, Apr 1990
Faugeras O.D., Toscani G., Camera Calibration for 3D Computer Vision, Proc. of Int. Workshop on Machine Vision and Machine Intelligence, Tokyo, Japan, Feb 1987
Föhr R., Ameling W., Photogrammetric Registration of Spatial Informations Using Standard CCD Video Cameras, Proceedings SIFIR'89, Int. Workshop on Sensorial Integration for Industrial Robots: Architecture & Applications, Zaragoza, Spane, pp. 194–199, Nov 1989
Haralick R.M., Lee C.N., Zhuang X., Vaidya V.G., Kim M.B., Pose Estimation from Corresponding Point Data, Workshop on Computer Vision, Miami Beach, Florida, Nov/Dec 1987
Howe H., Introduction to Physics, First Edition, McGraw-Hill Book Company, New York, 1942
Kraus K., Photogrammetrie Band 1: Grundlagen und Standardverfahren, Dümmlers Verlag, Bonn, 1982
Lee S., Kay Y., An Accurate Estimation of 3-D Position and Orientation of a Moving Object for Robot Stereo Vision: Kaiman Filter Approach, Int. Conference on Robotics and Automation, Cincinnati, Computer Society Press, pp. 414–419, May 1990
Lenz Reimar, Videometrie mit CCD-Sensoren und ihre Anwendungen in der Robotik, Habilitationsschrift der Technischen Universität München, Nov 1988
Puget, Skordas An optimal solution for mobile camera calibration, O. Faugeras (Ed.) First Eur. Conf. on Computer Vision, Antibes, France, Springer-Verlag, pp. 187–198, Apr 1990
Schrott A., Feature-Based Camera-Guided Grasping by an Eye-in-Hand Robot, Int. Conference on Robotics and Automation, Nizza, Computer Society Press, May 1992
Tsai R.Y., Lenz R.K., Techniques for Calibration of the Scale Factor and Image Center for High Accuracy 3-D Machine Vision Metrology, PAMI-10, 5, pp. 713–720, Sep 1988
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1992 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Schrott, A. (1992). A calibration of a mobile camera used for a camera-guided grasping by an eye-in-hand robot. In: Belli, F., Radermacher, F.J. (eds) Industrial and Engineering Applications of Artificial Intelligence and Expert Systems. IEA/AIE 1992. Lecture Notes in Computer Science, vol 604. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0024990
Download citation
DOI: https://doi.org/10.1007/BFb0024990
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-55601-5
Online ISBN: 978-3-540-47251-3
eBook Packages: Springer Book Archive