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

研究成果: Conference contribution同行評審

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings of 2009 7th Asian Control Conference, ASCC 2009
頁面905-912
頁數8
出版狀態Published - 11 十二月 2009
事件2009 7th Asian Control Conference, ASCC 2009 - Hong Kong, China
持續時間: 27 八月 200929 八月 2009

出版系列

名字Proceedings of 2009 7th Asian Control Conference, ASCC 2009

Conference

Conference2009 7th Asian Control Conference, ASCC 2009
國家China
城市Hong Kong
期間27/08/0929/08/09

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