UCL Discovery
UCL home » Library Services » Electronic resources » UCL Discovery

Extrinisic Calibration of a Camera-Arm System Through Rotation Identification

McGuire, S; Heckman, C; Szafir, D; Julier, S; Ahmed, NR; (2018) Extrinisic Calibration of a Camera-Arm System Through Rotation Identification. arXiv Green open access

[thumbnail of 1812.08280v1.pdf]
Preview
Text
1812.08280v1.pdf - Published version

Download (2MB) | Preview

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
Downloads since deposit
5Downloads
Download activity - last month
Download activity - last 12 months
Downloads by country - last 12 months

Archive Staff Only

View Item View Item