Calibrating a mobile camera's parameters

摘要

The calibration of the relative rotation and translation between a camera and a mobile robot's coordinate systems is addressed, as well as the camera's intrinsic parameters, from a sequence of monocular images and robot movements. Existing hand/eye calibration procedures for robot arms are not directly applicable because they require the robot hand to have at least two rotational degrees of freedom. A suitable representation for camera rotation is used, and the calibration task is decomposed into two stages. Furthermore, to recover the camera's rotation motion, the inverse perspective geometry constraints of a rectangular corner are employed. Complicated calibration patterns are thus not needed. The calibration procedures are tested using both synthetic and real data.