Volumetric Calibration of Stereo Camera in Visual Servo Based Robot Control | Zendy

Perez Ulises | Zendy; Cho Sohyung | Zendy; Asfour and Shihab | Zendy

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Volumetric Calibration of Stereo Camera in Visual Servo Based Robot Control

Author(s) -

Perez Ulises,

Cho Sohyung,

Asfour and Shihab

Publication year - 2009

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/6767

Subject(s) - computer science , computer vision , artificial intelligence , camera resectioning , stereo camera , calibration , servo control , servo , robot , camera auto calibration , projection (relational algebra) , robot calibration , distortion (music) , singular value decomposition , robot control , mobile robot , mathematics , algorithm , amplifier , computer network , statistics , bandwidth (computing)

The primary objective of the paper is to propose a calibration method for a stereo camera used in a visual servo control for a robot manipulator. Specifically, projection matrix between the stereo camera and world coordinates is established using few calibration points and solved using the single value decomposition technique. Then calibration accuracy is compared for a randomized and designed set of points, and economical number of calibration points is recommended. Additionally, the non-linear lens distortion is modeled and corrected to improve the accuracy. In addition, this research focuses on the development and implementation of a fully automated visual servo control system using a stereo camera that is calibrated by proposed method

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