Calibration issues in FRC: Camera, projector, kinematics based hybrid approach

We describe calibration issues in FRC (Future Robotic Computer), a robotic computer prototype system. Since FRC has a high degree of freedom in its configuration of inhomogeneous components such as a pair of projector-camera unit on each end of two pan-tilt arms, it is critical to have precise calibration values of each component to achieve desired result. Our method handles each calibration step in a hybrid manner. We describe the outline of the overall process as well as key issues in each step.