An Integrated Camera Parameters Calibration Approach for Robotic Monocular Vision Guidance
- Resource Type
- Conference
- Authors
- Liang, Xufeng; Du, Yuhao; Wei, Dongyu
- Source
- 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC) Chinese Association of Automation (YAC), 2019 34rd Youth Academic Annual Conference of. :455-459 Jun, 2019
- Subject
- Aerospace
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Transportation
Cameras
Calibration
Robot vision systems
Nonlinear distortion
Robot kinematics
camera calibration
robot positioning method
PnP solution
robotic vision
- Language
A core problem in robotics is to determine the position and orientation of an industrial robot in its working environment. The basic principle of vision-based robotic positioning technology relies on optical sensors that can provide tremendous amount of data. Monocular vision guidance of the robot requires firstly computing the intrinsic and extrinsic camera parameters from a set of physical features. In this paper, a camera calibration method combining Zhang Zhengyou's calibration method and PnP solution together is introduced to establish the three dimensional position and orientation of camera. Compared with other methods, this method does not require too much experimental data, it only requires the aid of a checkerboard and a white paper with several feature points. Moreover, the obtained camera parameters have high precision that can meet the requirements of a general robot monocular vision guiding system.