Discrete Camera Autocalibration Consistent with the Frame of the Robotic Pan-tilt Basis

In this paper we approach the problem of calibrating topologically a discrete camera mounted on a robotic pan-tilt basis. In particular this work is focused in choosing the coordinate system of the camera consistently with the basis. The topological calibrating methodology of the sensor is based on multidimensional scaling (MDS). The choice of the coordinate system is based in performing known pan and tilt movements with the robotic basis. These movements allow estimating the arbitrary unitary transformation introduced by MDS like algorithms, and therefore compensate image rotation and vertical or horizontal mirroring. Given a consistent camera coordinate system and the odometry of the robotic basis during the capture of sequence of images, allows building image mosaics with discrete cameras