DocumentCode
2038646
Title
Active visual alignment of a mobile stereo camera platform
Author
Knight, Joss ; Reid, Ian
Author_Institution
Dept. of Eng. Sci., Oxford Univ., UK
Volume
4
fYear
2000
fDate
2000
Firstpage
3203
Abstract
We present a complete system for automatic alignment and calibration of a stereo pan-tilt camera platform on a mobile robot. The system uses visual data from one or two controlled rotations of the head, and a single forward motion of the robot. We show how the images alone provide head alignment information, camera calibration, and head geometry. We also discuss automatic zeroing of steering angle for a single steering wheel AGV. Results are provided from tests on the working system
Keywords
active vision; calibration; mobile robots; position control; stereo image processing; AGV; active vision; automatic calibration; head geometry; mobile robot; robot vision; steering angle zeroing; stereo camera platform; stereo pan-tilt camera; visual alignment; Automatic control; Calibration; Cameras; Computational geometry; Control systems; Head; Mobile robots; Motion control; Robot vision systems; Robotics and automation;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.845156
Filename
845156
Link To Document