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Automatic calibration of a range camera using motion
Luleå tekniska universitet.
1994 (English)In: Intelligent robots and computer vision XIII: 3D vision, product inspection, and active vision : 2 - 4 November 1994, Boston, Massachusetts, SPIE - International Society for Optical Engineering, 1994, 261-270 p.Conference paper (Refereed)
Abstract [en]

This paper presents a method for calibration of a sheet of light range camera using robot motion information from odometers instead of an absolute reference object in a static scene. The calibration is integrated with the robot position estimation, and performed during normal operation of the robot. This makes it possible to detect when parameters change during operation, and to recalibrate automatically. To estimate the calibration parameters as well as the robot position relative to the surface a Kalman filter is used. The system is highly nonlinear, and a normal extended Kalman filter will often fail to converge to the correct value. This is solved by changing the coordinate frame in which the filtering occurs, taking into account the resulting correlations between the estimate and measurement. The calibration assumes that initial estimates of the calibration parameters are available

Place, publisher, year, edition, pages
SPIE - International Society for Optical Engineering, 1994. 261-270 p.
Series
, Proceedings of SPIE, the International Society for Optical Engineering, ISSN 0277-786X ; 2354
Research subject
Industrial Electronics
Identifiers
URN: urn:nbn:se:ltu:diva-37426Local ID: b73e0f60-09f8-11dd-ae49-000ea68e967bISBN: 0-8194-1689-4OAI: oai:DiVA.org:ltu-37426DiVA: diva2:1010924
Conference
Intelligent Robots and Computer Vision : 3D Vision, Product Inspection, and Active Vision 31/10/1994 - 02/11/1994
Note
Godkänd; 1994; 20080414 (cira)Available from: 2016-10-03 Created: 2016-10-03Bibliographically approved

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