A Multisensor Robotic Locating System And The Camera Calibration Problem

William J. Wolfe; Gordon K. White; Lewis J. Pinson

doi:10.1117/12.950829

11 December 1985 A Multisensor Robotic Locating System And The Camera Calibration Problem

William J. Wolfe, Gordon K. White, Lewis J. Pinson

Proceedings Volume 0579, Intelligent Robots and Computer Vision IV; (1985) https://doi.org/10.1117/12.950829
Event: 1985 Cambridge Symposium, 1985, Cambridge, United States

Abstract

A multisensor, microprocessor-controlled robotic locating system (RLS) is being devel-oped in our machine intelligence laboratory. A video camera, laser illuminator, optical angle sensors, and ultrasonics are the primary sensor components. Software is being de-veloped on a personal computer that has been augmented with video acquisition and high-speed signal processing boards. Real-time (less than 1 second) algorithms are being implemented that exploit both natural and artificial patterns. Artificial patterns are introduced by planting light-emitting diodes (LED) and reflective materials in the envi-ronment. Projecting light patterns is also part of the design. Using control points to determine camera position and orientation is a particularly interesting problem because of its apparent simplicity. Several algorithms for calibrat-ing a camera using control points are discussed in detail. The use of four control points in a rectangular configuration is especially detailed. A review of various approaches to camera calibration is included. The methods pre-sented are from the literature and work performed by the authors. These different ap-proaches provide insight into the nature of the problems. Closed form solutions are emphasized.

Citation Download Citation

William J. Wolfe, Gordon K. White, and Lewis J. Pinson "A Multisensor Robotic Locating System And The Camera Calibration Problem", Proc. SPIE 0579, Intelligent Robots and Computer Vision IV, (11 December 1985); https://doi.org/10.1117/12.950829

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