Autonomous Stereo Camera Parameter Estimation for Outdoor Visual Servoing

2007 ◽  
Author(s):  
Nima Ziraknejad ◽  
Shahram Tafazoli ◽  
Peter D. Lawrence
Keyword(s):  
Parameter Estimation ◽  
Visual Servoing ◽  
Stereo Camera ◽  
Camera Parameter

A TWO-PARAMETER GENERATE-AND-TEST METHOD FOR CAMERA PARAMETER ESTIMATION WITH ANY PLANAR CALIBRATION OBJECT

1994 ◽  
Vol 08 (04) ◽  
pp. 877-898 ◽  
Author(s):  
ZEN CHEN ◽  
CHAO-MING WANG
Keyword(s):  
Parameter Estimation ◽  
Estimation Method ◽  
Image Features ◽  
Test Method ◽  
Camera Parameter ◽  
Speed Performance ◽  
Verification Time ◽  
Calibration Object ◽  
Object Features ◽  
Planar Calibration

In this paper we address the camera parameter estimation problem using an arbitrary planar calibration object. We intend not to use a system of linear or nonlinear equations in terms of the camera parameters derived from the correspondence relationships between the image features (points or lines) and the object features. Instead, we assume that the shape of the planar object can be arbitrary. Therefore, there may not exist any extractable object point or line features. We formulate the estimation method as a generate-and-test method. To make the method effective, we reduce the dimensionality of the parameter space from six to two using a simplified model of the perspective transformation under some mild conditions. Furthermore, several other measures are also taken to cut down the generation time and the verification time. Real, computer-generated, and noisy imagery data are used to illustrate our method in the experiments. The statistics on the speed performance of the method are also included.

Camera parameter estimation from a long image sequence by tracking markers and natural features

2004 ◽  
Vol 35 (8) ◽  
pp. 12-20 ◽  
Author(s):  
Tomokazu Sato ◽  
Masayuki Kanbara ◽  
Naokazu Yokoya ◽  
Haruo Takemura
Keyword(s):  
Parameter Estimation ◽  
Image Sequence ◽  
Camera Parameter

Full Leg Control of a Quadruped Robot Using Linear Visual Servoing with a Stereo Omnidirectional Camera

2011 ◽  
Vol 5 (2) ◽  
pp. 241-246
Author(s):  
Yukinari Inoue ◽  
◽  
Noriaki Maru ◽  
Keyword(s):  
Visual Servoing ◽  
Visual Space ◽  
Quadruped Robot ◽  
The Body ◽  
Field Of View ◽  
Transformation Equation ◽  
Stereo Camera ◽  
Omnidirectional Camera ◽  
Quadruped Robots ◽  
Omnidirectional Image

The authors have previously proposed foot tip control for quadruped robots using linear visual servoing (LVS) with a normal stereo camera. However, a normal stereo camera has a narrow field of view and is incapable of seeing all four legs simultaneously. Consequently, it has been a problem that the control of all the legs have required that the rotatation of the camera be controlled. This article proposes a method by which a stereo omnidirectional camera is provided at a position low on the body to control all four legs through LVS. In this article, we at first present a transformation equation from an omnidirectional image to a binocular visual space, and we develop a servo equation of LVS in which an omnidirectional image is used. Then, through simulation, we confirm trajectories with the LVS applied to foot tip control. We also conduct an experiment using TITAN-VIII to demonstrate the efficacy of the proposed method.

1A2-Q15 Extrinsic Camera Parameter Estimation using Laser Scanner for a Mobile Mapping System(ITS and Robot Technology)

2011 ◽  
Vol 2011 (0) ◽  
pp. _1A2-Q15_1-_1A2-Q15_2
Author(s):  
Taro SUZUKI ◽  
Kiichiro ISHIKAWA ◽  
Yoshiharu AMANO ◽  
Takumi HASHIZUME ◽  
Yoshihiro SHIMA ◽  
...  
Keyword(s):  
Parameter Estimation ◽  
Laser Scanner ◽  
Mobile Mapping ◽  
Camera Parameter ◽  
Mapping System ◽  
Mobile Mapping System ◽  
Robot Technology
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