Software Calibration for Stereo Camera on Stereo Vision Mobile Robot using Tsai’s Method

An improvement for image distortion in camerashas been an important issue for as long as users have wanted toreproduce or utilize observed information. In this paper, itdescribed about mobile robot using uncalibrated cameras rigwhich installed on top of it to work as stereo pair. Thesecameras have to be calibrated by software using Tsai's method.The block matching algorithm is using Sum of AbsoluteDifferences (SAD) to solve the correspondence problem. Theimage processing part is implemented in Matlab software. Theresult is a lot of matching points discovered using a softwarecalibration result from Tsai's method.