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Al-Thocb HSC: a harmony search algorithm for automated calibration of industrial equipment

Adapted harmony search algorithm for camera calibration

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Abstract

Calibration is an essential task for setting up camera parameters, especially when cameras are used for industrial applications like object recognition and picking that require a fine-grained location of the observed object. However, this process is time-consuming and requires specific image processing skills, which are not always available: an operator often needs to use the equipment rapidly without costly setup operations. The calibration system needs a coherent set of images of a given model, called a mire, positioned in different ways. In this paper, we propose to automate and to optimize the calibration system by eliminating the requirement for the user to select a suitable set of images. Thus, an optimized calibration can be obtained in a minimum of time. First, we propose to retrieve the set of points of each input image in order to avoid a renewed search at each calibration. Second, we define Al-Thocb, a Harmony Search Calibration algorithm, based on Harmony Search Optimization. The algorithm optimizes the selection of the best images. The satisfaction criterion is defined by a fitness function based on the projection error. The method allows to retrieve coherent camera parameters with no need for specific user skills. It also significantly improves the accuracy of calibration through the use of the reprojection error as fitness function. To demonstrate the applicability of Al-Thocb, we evaluate the accuracy and the responsiveness of the proposed algorithm and compare it to other existing methods.

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Acknowledgements

This research was supported by Hager enterprise. We would also thank the ECAM-Strasbourg Europe for valuable comments and discussions.

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Authors and Affiliations

  1. ICube Laboratory, Université de Strasbourg, Strasbourg, France

    Pierre Willaume, Pierre Parrend & Aline Deruyver

  2. ECAM Strasbourg-Europe, Schiltigheim, France

    Pierre Willaume, Pierre Parrend & Etienne Gancel

  3. Hager Group, Obernai, France

    Pierre Willaume & Etienne Gancel

  4. Complex System Digital Campus (UNESCO Unitwin), Paris, France

    Pierre Willaume, Pierre Parrend & Aline Deruyver

Authors
  1. Pierre Willaume
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  2. Pierre Parrend
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  3. Etienne Gancel
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  4. Aline Deruyver
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Corresponding author

Correspondence to Pierre Willaume.

Additional information

This research is funded by the enterprise Hager, Obernai.

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Willaume, P., Parrend, P., Gancel, E. et al. Al-Thocb HSC: a harmony search algorithm for automated calibration of industrial equipment. Machine Vision and Applications 29, 525–541 (2018). https://doi.org/10.1007/s00138-018-0909-z

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  • DOI: https://doi.org/10.1007/s00138-018-0909-z

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