Extensions of Plane-Based Calibration to the Case of Translational Motion in a Robot Vision Setting
In this paper, a technique for calibrating a camera using a planar calibration object with known metric structure, when the camera (or the calibration plane) undergoes pure translational motion, is presented. The study is an extension of the standard formulation of plane-based camera calibration whe...
Gespeichert in:
| Veröffentlicht in: | IEEE transactions on robotics 2006-04, Vol.22 (2), p.322-333 |
|---|---|
| Hauptverfasser: | , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 333 |
|---|---|
| container_issue | 2 |
| container_start_page | 322 |
| container_title | IEEE transactions on robotics |
| container_volume | 22 |
| creator | Malm, H. Heyden, A. |
| description | In this paper, a technique for calibrating a camera using a planar calibration object with known metric structure, when the camera (or the calibration plane) undergoes pure translational motion, is presented. The study is an extension of the standard formulation of plane-based camera calibration where the translational case is considered as degenerate. We derive a flexible and straightforward way of using different amounts of knowledge of the translational motion for the calibration task. The theory is mainly applicable in a robot vision setting, and the calculation of the hand-eye orientation and the special case of stereo head calibration are also being addressed. Results of experiments on both computer-generated and real image data are presented. The paper covers the most useful instances of applying the technique to a real system and discusses the degenerate cases that needs to be considered. The paper also presents a method for calculating the infinite homography between the two image planes in a stereo head, using the homographies estimated between the calibration plane and the image planes. Its possible usage and usefulness for simultaneous calibration of the two cameras in the stereo head are discussed and illustrated using experiments |
| doi_str_mv | 10.1109/TRO.2005.862477 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_RIE</sourceid><recordid>TN_cdi_proquest_miscellaneous_28115779</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>1618743</ieee_id><sourcerecordid>889447805</sourcerecordid><originalsourceid>FETCH-LOGICAL-c481t-28e0d699c0909d8230815cf3eaebe02f4fe80c6ad6a7058836540b799c2fc32e3</originalsourceid><addsrcrecordid>eNqFks1v1DAQxSMEEqVw5sAlQoKesh1_20dYtYC0qKgsXC3HGYOrNN7GiYD_HqepqMQBDiNbfr950oxfVT0nsCEEzOn-8mJDAcRGS8qVelAdEcNJA1zqh-UuBG0YGP24epLzFQDlBthR5c9-TjjkmIZcp1B_6t2AzVuXsau3ro_t6Kai1VOqp-9YnjIu2H50Q-5vJdfXH9MtE4fa1ZepTVP9NS6O9Wecpjh8e1o9Cq7P-OzuPK6-nJ_tt--b3cW7D9s3u8ZzTaaGaoROGuPBgOk0ZaCJ8IGhwxaBBh5Qg5euk06B0JpJwaFVpYEGzyiy42q3-uYfeJhbexjjtRt_2eSi7edDqbaUzWgFkUp3nFhJiLYcKLEtdWCZdBiUEUySUOxOVrvDmG5mzJO9jtljv6wozdlqbThXGkQhX_-TpIaAUJT-H9SECKVMAV_-BV6leSzLLgwQwYmSvECnK-THlPOI4c_EBOySCVsyYZdM2DUTpePVna3L3vWhfKOP-b5NSU1LUAr3YuUiIt7LkmjFGfsNSWu8hA</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>201541764</pqid></control><display><type>article</type><title>Extensions of Plane-Based Calibration to the Case of Translational Motion in a Robot Vision Setting</title><source>IEEE Electronic Library (IEL)</source><creator>Malm, H. ; Heyden, A.</creator><creatorcontrib>Malm, H. ; Heyden, A.</creatorcontrib><description>In this paper, a technique for calibrating a camera using a planar calibration object with known metric structure, when the camera (or the calibration plane) undergoes pure translational motion, is presented. The study is an extension of the standard formulation of plane-based camera calibration where the translational case is considered as degenerate. We derive a flexible and straightforward way of using different amounts of knowledge of the translational motion for the calibration task. The theory is mainly applicable in a robot vision setting, and the calculation of the hand-eye orientation and the special case of stereo head calibration are also being addressed. Results of experiments on both computer-generated and real image data are presented. The paper covers the most useful instances of applying the technique to a real system and discusses the degenerate cases that needs to be considered. The paper also presents a method for calculating the infinite homography between the two image planes in a stereo head, using the homographies estimated between the calibration plane and the image planes. Its possible usage and usefulness for simultaneous calibration of the two cameras in the stereo head are discussed and illustrated using experiments</description><identifier>ISSN: 1552-3098</identifier><identifier>ISSN: 1941-0468</identifier><identifier>EISSN: 1941-0468</identifier><identifier>DOI: 10.1109/TRO.2005.862477</identifier><identifier>CODEN: ITREAE</identifier><language>eng</language><publisher>New York, NY: IEEE</publisher><subject>Applied sciences ; Biologi ; Biological Sciences ; Calibration ; Cameras ; Cells (biology) ; Computer aided software engineering ; Computer science; control theory; systems ; Computer vision ; Control theory. Systems ; Exact sciences and technology ; Infinite homography estimation ; intrinsic camera calibration ; Magnetic heads ; Mathematical analysis ; Natural Sciences ; Naturvetenskap ; plane-based calibration ; Planes ; Robot kinematics ; Robot vision systems ; robotic vision ; Robotics ; Robots ; stereo head calibration ; Stereo vision ; Translational motion ; Vision ; Zoologi ; Zoology</subject><ispartof>IEEE transactions on robotics, 2006-04, Vol.22 (2), p.322-333</ispartof><rights>2006 INIST-CNRS</rights><rights>Copyright Institute of Electrical and Electronics Engineers, Inc. (IEEE) Apr 2006</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c481t-28e0d699c0909d8230815cf3eaebe02f4fe80c6ad6a7058836540b799c2fc32e3</citedby><cites>FETCH-LOGICAL-c481t-28e0d699c0909d8230815cf3eaebe02f4fe80c6ad6a7058836540b799c2fc32e3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/1618743$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>230,314,776,780,792,881,27901,27902,54733</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/1618743$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=17682552$$DView record in Pascal Francis$$Hfree_for_read</backlink><backlink>$$Uhttps://lup.lub.lu.se/record/414068$$DView record from Swedish Publication Index$$Hfree_for_read</backlink></links><search><creatorcontrib>Malm, H.</creatorcontrib><creatorcontrib>Heyden, A.</creatorcontrib><title>Extensions of Plane-Based Calibration to the Case of Translational Motion in a Robot Vision Setting</title><title>IEEE transactions on robotics</title><addtitle>TRO</addtitle><description>In this paper, a technique for calibrating a camera using a planar calibration object with known metric structure, when the camera (or the calibration plane) undergoes pure translational motion, is presented. The study is an extension of the standard formulation of plane-based camera calibration where the translational case is considered as degenerate. We derive a flexible and straightforward way of using different amounts of knowledge of the translational motion for the calibration task. The theory is mainly applicable in a robot vision setting, and the calculation of the hand-eye orientation and the special case of stereo head calibration are also being addressed. Results of experiments on both computer-generated and real image data are presented. The paper covers the most useful instances of applying the technique to a real system and discusses the degenerate cases that needs to be considered. The paper also presents a method for calculating the infinite homography between the two image planes in a stereo head, using the homographies estimated between the calibration plane and the image planes. Its possible usage and usefulness for simultaneous calibration of the two cameras in the stereo head are discussed and illustrated using experiments</description><subject>Applied sciences</subject><subject>Biologi</subject><subject>Biological Sciences</subject><subject>Calibration</subject><subject>Cameras</subject><subject>Cells (biology)</subject><subject>Computer aided software engineering</subject><subject>Computer science; control theory; systems</subject><subject>Computer vision</subject><subject>Control theory. Systems</subject><subject>Exact sciences and technology</subject><subject>Infinite homography estimation</subject><subject>intrinsic camera calibration</subject><subject>Magnetic heads</subject><subject>Mathematical analysis</subject><subject>Natural Sciences</subject><subject>Naturvetenskap</subject><subject>plane-based calibration</subject><subject>Planes</subject><subject>Robot kinematics</subject><subject>Robot vision systems</subject><subject>robotic vision</subject><subject>Robotics</subject><subject>Robots</subject><subject>stereo head calibration</subject><subject>Stereo vision</subject><subject>Translational motion</subject><subject>Vision</subject><subject>Zoologi</subject><subject>Zoology</subject><issn>1552-3098</issn><issn>1941-0468</issn><issn>1941-0468</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2006</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNqFks1v1DAQxSMEEqVw5sAlQoKesh1_20dYtYC0qKgsXC3HGYOrNN7GiYD_HqepqMQBDiNbfr950oxfVT0nsCEEzOn-8mJDAcRGS8qVelAdEcNJA1zqh-UuBG0YGP24epLzFQDlBthR5c9-TjjkmIZcp1B_6t2AzVuXsau3ro_t6Kai1VOqp-9YnjIu2H50Q-5vJdfXH9MtE4fa1ZepTVP9NS6O9Wecpjh8e1o9Cq7P-OzuPK6-nJ_tt--b3cW7D9s3u8ZzTaaGaoROGuPBgOk0ZaCJ8IGhwxaBBh5Qg5euk06B0JpJwaFVpYEGzyiy42q3-uYfeJhbexjjtRt_2eSi7edDqbaUzWgFkUp3nFhJiLYcKLEtdWCZdBiUEUySUOxOVrvDmG5mzJO9jtljv6wozdlqbThXGkQhX_-TpIaAUJT-H9SECKVMAV_-BV6leSzLLgwQwYmSvECnK-THlPOI4c_EBOySCVsyYZdM2DUTpePVna3L3vWhfKOP-b5NSU1LUAr3YuUiIt7LkmjFGfsNSWu8hA</recordid><startdate>20060401</startdate><enddate>20060401</enddate><creator>Malm, H.</creator><creator>Heyden, A.</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>H8D</scope><scope>F28</scope><scope>ADTPV</scope><scope>AOWAS</scope><scope>D95</scope></search><sort><creationdate>20060401</creationdate><title>Extensions of Plane-Based Calibration to the Case of Translational Motion in a Robot Vision Setting</title><author>Malm, H. ; Heyden, A.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c481t-28e0d699c0909d8230815cf3eaebe02f4fe80c6ad6a7058836540b799c2fc32e3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2006</creationdate><topic>Applied sciences</topic><topic>Biologi</topic><topic>Biological Sciences</topic><topic>Calibration</topic><topic>Cameras</topic><topic>Cells (biology)</topic><topic>Computer aided software engineering</topic><topic>Computer science; control theory; systems</topic><topic>Computer vision</topic><topic>Control theory. Systems</topic><topic>Exact sciences and technology</topic><topic>Infinite homography estimation</topic><topic>intrinsic camera calibration</topic><topic>Magnetic heads</topic><topic>Mathematical analysis</topic><topic>Natural Sciences</topic><topic>Naturvetenskap</topic><topic>plane-based calibration</topic><topic>Planes</topic><topic>Robot kinematics</topic><topic>Robot vision systems</topic><topic>robotic vision</topic><topic>Robotics</topic><topic>Robots</topic><topic>stereo head calibration</topic><topic>Stereo vision</topic><topic>Translational motion</topic><topic>Vision</topic><topic>Zoologi</topic><topic>Zoology</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Malm, H.</creatorcontrib><creatorcontrib>Heyden, A.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Aerospace Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>SwePub</collection><collection>SwePub Articles</collection><collection>SWEPUB Lunds universitet</collection><jtitle>IEEE transactions on robotics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Malm, H.</au><au>Heyden, A.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Extensions of Plane-Based Calibration to the Case of Translational Motion in a Robot Vision Setting</atitle><jtitle>IEEE transactions on robotics</jtitle><stitle>TRO</stitle><date>2006-04-01</date><risdate>2006</risdate><volume>22</volume><issue>2</issue><spage>322</spage><epage>333</epage><pages>322-333</pages><issn>1552-3098</issn><issn>1941-0468</issn><eissn>1941-0468</eissn><coden>ITREAE</coden><abstract>In this paper, a technique for calibrating a camera using a planar calibration object with known metric structure, when the camera (or the calibration plane) undergoes pure translational motion, is presented. The study is an extension of the standard formulation of plane-based camera calibration where the translational case is considered as degenerate. We derive a flexible and straightforward way of using different amounts of knowledge of the translational motion for the calibration task. The theory is mainly applicable in a robot vision setting, and the calculation of the hand-eye orientation and the special case of stereo head calibration are also being addressed. Results of experiments on both computer-generated and real image data are presented. The paper covers the most useful instances of applying the technique to a real system and discusses the degenerate cases that needs to be considered. The paper also presents a method for calculating the infinite homography between the two image planes in a stereo head, using the homographies estimated between the calibration plane and the image planes. Its possible usage and usefulness for simultaneous calibration of the two cameras in the stereo head are discussed and illustrated using experiments</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/TRO.2005.862477</doi><tpages>12</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 1552-3098 |
| ispartof | IEEE transactions on robotics, 2006-04, Vol.22 (2), p.322-333 |
| issn | 1552-3098 1941-0468 1941-0468 |
| language | eng |
| recordid | cdi_proquest_miscellaneous_28115779 |
| source | IEEE Electronic Library (IEL) |
| subjects | Applied sciences Biologi Biological Sciences Calibration Cameras Cells (biology) Computer aided software engineering Computer science control theory systems Computer vision Control theory. Systems Exact sciences and technology Infinite homography estimation intrinsic camera calibration Magnetic heads Mathematical analysis Natural Sciences Naturvetenskap plane-based calibration Planes Robot kinematics Robot vision systems robotic vision Robotics Robots stereo head calibration Stereo vision Translational motion Vision Zoologi Zoology |
| title | Extensions of Plane-Based Calibration to the Case of Translational Motion in a Robot Vision Setting |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-02-01T15%3A30%3A31IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_RIE&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Extensions%20of%20Plane-Based%20Calibration%20to%20the%20Case%20of%20Translational%20Motion%20in%20a%20Robot%20Vision%20Setting&rft.jtitle=IEEE%20transactions%20on%20robotics&rft.au=Malm,%20H.&rft.date=2006-04-01&rft.volume=22&rft.issue=2&rft.spage=322&rft.epage=333&rft.pages=322-333&rft.issn=1552-3098&rft.eissn=1941-0468&rft.coden=ITREAE&rft_id=info:doi/10.1109/TRO.2005.862477&rft_dat=%3Cproquest_RIE%3E889447805%3C/proquest_RIE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=201541764&rft_id=info:pmid/&rft_ieee_id=1618743&rfr_iscdi=true |