Robust robot-camera calibration

J. Ilonen*, V. Kyrki

*Corresponding author for this work

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

10 Citations (Scopus)

Abstract

Calibrating the parameters of a vision system used in robotics is crucial for many tasks where the robot has to physically interact with the environment. This paper introduces a robust method for calibrating the relative poses between the base frame of the robot and one or more cameras. The method is based on tracking a marker attached to the end-effector of the robot and does not require manual bootstrapping. The method is robust to a large number of outliers (incorrectly detected marker positions) and provides an estimate of the uncertainty of the estimated parameters based on the variance of the observed errors, providing information on the accuracy of the estimate. Experimental results demonstrate that highly robust estimates can be obtained with relatively few measurements.

Original languageEnglish
Title of host publicationIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
Pages67-74
Number of pages8
DOIs
Publication statusPublished - 2011
MoE publication typeA4 Article in a conference publication
EventInternational Conference on Advanced Robotics - Tallinn, Estonia
Duration: 20 Jun 201123 Jun 2011
Conference number: 15

Conference

ConferenceInternational Conference on Advanced Robotics
Abbreviated titleICAR
CountryEstonia
CityTallinn
Period20/06/201123/06/2011

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