Camera calibration using mobile robot in intelligent space

Takeshi Sasaki, Hideki Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

In this paper, we describe an automated camera calibration method by using mobile robots. In the recent years, the research field on smart environments, which is a space with many embedded and networked sensors, has been expanding. Such a system should have flexibility and scalability so that we can easily add, remove or replace devices depending on the size of the space, application, technological advances, and so on. One of the major problems when setting up the devices is a calibration of the sensors. In order to reduce this, we utilize color markers installed on a mobile robot to calibrate distributed vision sensors. The mobility of mobile robots allows us to cover wide areas of the environment without placing many landmarks in the exact positions beforehand. The position and orientation of the mobile robot are estimated from wheel encoder and an ultrasonic 3D positioning system measurement data using Extended Kalman Filter (EKF). Automated camera calibration is performed based on the positions of the color markers in world coordinate system and their corresponding points in image coordinate system. Experimental result shows the validity of this method.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Pages2657-2662
Number of pages6
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 SICE-ICASE International Joint Conference - Busan
Duration: 2006 Oct 182006 Oct 21

Other

Other2006 SICE-ICASE International Joint Conference
CityBusan
Period06/10/1806/10/21

Fingerprint

Mobile robots
Cameras
Calibration
Sensors
Color
Space applications
Extended Kalman filters
Scalability
Wheels
Ultrasonics

Keywords

  • Automated camera calibration
  • Intelligent space
  • Mobile robot

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Sasaki, T., & Hashimoto, H. (2006). Camera calibration using mobile robot in intelligent space. In 2006 SICE-ICASE International Joint Conference (pp. 2657-2662). [4108095] https://doi.org/10.1109/SICE.2006.315050

Camera calibration using mobile robot in intelligent space. / Sasaki, Takeshi; Hashimoto, Hideki.

2006 SICE-ICASE International Joint Conference. 2006. p. 2657-2662 4108095.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sasaki, T & Hashimoto, H 2006, Camera calibration using mobile robot in intelligent space. in 2006 SICE-ICASE International Joint Conference., 4108095, pp. 2657-2662, 2006 SICE-ICASE International Joint Conference, Busan, 06/10/18. https://doi.org/10.1109/SICE.2006.315050
Sasaki T, Hashimoto H. Camera calibration using mobile robot in intelligent space. In 2006 SICE-ICASE International Joint Conference. 2006. p. 2657-2662. 4108095 https://doi.org/10.1109/SICE.2006.315050
Sasaki, Takeshi ; Hashimoto, Hideki. / Camera calibration using mobile robot in intelligent space. 2006 SICE-ICASE International Joint Conference. 2006. pp. 2657-2662
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