Kinematic Calibration of a Gough-Stewart Platform Using an Omnidirectional Camera

This paper is related to the vision-based control of parallel robots. Indeed, a method is proposed to estimate the reduced set of kinematic parameters appearing in such a control. To do so, it extends a linear method, obtained for a perspective camera, to the case of an omnidirectional camera, using an existing unifying projection model. The proposed method remains linear, once adequate information is extracted from the omnidirectional images, and does not require any calibration pattern. It works both with perspective and omnidirectional cameras, which is underlined by the reported experiments