Abstract
This paper proposes a method that can calibrate the camera installed in a mobile robot. This method works by using the principle of camera’s perspective projection and the pinhole imaging model, and obtain static external camera parameters through a three - wire calibration method. In consideration of robot’s bumpy moving condition, a camera height dynamic compensation algorithm which depends on the characteristics of parallel lines is put forward. This camera height dynamic compensation algorithm is based on the inherent characteristics of using two parallel lines to conduct a dynamic compensation for the heights of a robot vision camera. A comparison between the calibration error of this algorithm with that of other calibration algorithms shows a clear advantage of this method over the others. According to the result of an undulating road experiment, the height values obtained by using this algorithm are closer to the actual heights. Analysis and experiment results show that this calibration compensation algorithm can significantly reduce calibration error caused by undulating road
Similar content being viewed by others
References
Shin, K.-Y. and Mun, J. H., “A Multi-Camera Calibration Method using a 3-Axis Frame and Wand,” Int. J. Precis. Eng. Manuf., vol. 13, no. 2, pp. 283–289, 2012.
Kang, D.-J. and Lee, W.-H., “Automatic Circle Pattern Extraction and Camera Calibration using Fast Adaptive Binarization and Plane Homography,” Int. J. Precis. Eng. Manuf., vol. 11, no. 1, pp. 13–21, 2010.
Bertozzi, M. and Broggi, A., “Gold: A Parallel Real-Time Stereo Vision System for Generic Obstacle and Lane Detection,” IEEE Transactions on Image Processing, vol. 7, no. 1, pp. 62–81, 1998.
Broggi, A., Bertozzi, M., and Fascioli, A., “Self-Calibration of a Stereo Vision System for Automotive Applications,” Proc. of IEEE International Conference on Robotics and Automation, vol. 4, pp. 3698–3703, 2001.
Southall, B. and Taylor, C. J., “Stochastic Road Shape Estimation,” Proc. of 8th IEEE International Conference on Computer Vision, vol. 1, pp. 205–212, 2001.
Song, X., Yang, M., and Wang, H., “A Calibration Method based on Grid Texture,” Computer Engineering and Applications, vol. 38, no. 7, pp. 72–74, 2002.
Salvi, J., Armangué, X., and Batlle, J., “A Comparative Review of Camera Calibrating Methods with Accuracy Evaluation,” Pattern Recognition, vol. 35, no. 7, pp. 1617–1635, 2002.
Ricolfe-Viala, C. and Sanchez-Salmeron, A.-J., “Improved Camera Calibration Method based on a Two-Dimensional Template,” Pattern Recognition and Image Analysis, vol. 4478, pp. 420–427, 2007.
LI, Q., Zheng, N.-N., and Zhang, X.-T., “Calibration of External Parameters of Vehicle-Mounted Camera with Trilinear Method,” Opto-Electronic Engineering, vol. 31, no. 8, pp. 23–26, 2004.
Chen, J., Xu, Y. C., Peng, Y. S., and Zhao, Y. F., “Dynamic Compensation Algorithm for Vehicle Camera Calibration based on Road Characteristics,” Journal of Mechanical Eengineering, vol. 46, no. 20, pp. 112–117, 2010.
Liu, J. and Hubbold, R., “Automatic Camera Calibration and Scene Reconstruction with Scale-Invariant Features,” Advances in Visual Computing, vol. 4291, pp. 558–568, 2006.
Lowe, D., “Object Recognition from Scale Invariant Feature Descriptors,” Proc. of IEEE Conference on Computer Vision, pp. 1150–1157, 1999.
Liu, R., Zhang, H., Liu, M., Xia, X., and Hu, T., “Stereo Cameras Self-Calibration based on Sift,” Proc. of International Conference on Measuring Technology and Mechatronics Automation, vol. 1, pp. 352–355, 2009.
Niu, H. T. and Zhao, X. J., “New Method of Camera Calibration based on Checkerboard,” Infrared and Laser Engineering, vol. 40, no. 1, pp. 133–137, 2011.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Liu, M., Zhang, X., Zhang, Y. et al. Calibration algorithm of mobile robot vision camera. Int. J. Precis. Eng. Manuf. 17, 51–57 (2016). https://doi.org/10.1007/s12541-016-0007-y
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12541-016-0007-y