McGuire, S;
Heckman, C;
Szafir, D;
Julier, S;
Ahmed, NR;
(2018)
Extrinisic Calibration of a Camera-Arm System Through Rotation Identification.
arXiv
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Abstract
Determining extrinsic calibration parameters is a necessity in any robotic system composed of actuators and cameras. Once a system is outside the lab environment, parameters must be determined without relying on outside artifacts such as calibration targets. We propose a method that relies on structured motion of an observed arm to recover extrinsic calibration parameters. Our method combines known arm kinematics with observations of conics in the image plane to calculate maximum-likelihood estimates for calibration extrinsics. This method is validated in simulation and tested against a real-world model, yielding results consistent with ruler-based estimates. Our method shows promise for estimating the pose of a camera relative to an articulated arm's end effector without requiring tedious measurements or external artifacts.
| Type: | Article |
|---|---|
| Title: | Extrinisic Calibration of a Camera-Arm System Through Rotation Identification |
| Open access status: | An open access version is available from UCL Discovery |
| Publisher version: | https://arxiv.org/abs/1812.08280 |
| Language: | English |
| Additional information: | For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | robotics, hand-eye problem, self-calibration, structure from motion |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10119533 |
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