Improving camera calibration by using multiple frames in hand-eye robotic systems

Addresses the geometric modelling aspects related with the use of a pair of video cameras mounted on a six degrees-of-freedom manipulator in an hand-eye configuration. The information obtained by these sensors shall be used to generate the depth map of the environment where the manipulator works. The procedure to determining the image formation parameters is known by camera calibration and a method to optimize these calibration parameters is presented. After presenting the calibration technique used, the authors develop a calibration matrix invariant to movement. The optimization process is applied to this matrix to obtain a better performance in the numerical data