A procedure for simultaneous calibration of environmental cameras and localization of mobile robots

Hsiang Wen Hsieh*, Chin Chia Wu, Jwu-Sheng Hu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

With an accurate estimate of the robot pose, robots will be capable of navigating in the environment autonomously and efficiently. In this paper, an infrastructure comprises of simultaneous camera calibration and robot localization is presented. The presented approach utilizes particle filter that integrates odometry data from robot and images captured from overhead cameras in the environment to localize the robot and calibrate overhead camera. An odometry-based motion model, HSV histogram-based measurement model and DLT (Direct Linear Transform) are designed to estimate robot poses and calibration cameras iteratively. Experiment results show the presented approach could calibrate the camera and estimate robot poses iteratively with reprojection errors around 210 mm in world reference plane.

Original languageEnglish
Title of host publicationProceedings of 2009 7th Asian Control Conference, ASCC 2009
Pages905-912
Number of pages8
StatePublished - 11 Dec 2009
Event2009 7th Asian Control Conference, ASCC 2009 - Hong Kong, China
Duration: 27 Aug 200929 Aug 2009

Publication series

NameProceedings of 2009 7th Asian Control Conference, ASCC 2009

Conference

Conference2009 7th Asian Control Conference, ASCC 2009
CountryChina
CityHong Kong
Period27/08/0929/08/09

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