Extrinsic calibration of a camera-robot system under non-holonomic constraints

Autores
Araguás, Gastón; Perez Paina, Gonzalo; Steiner, Guillermo; Canali, Luis
Año de publicación
2011
Idioma
inglés
Tipo de recurso
documento de conferencia
Estado
versión publicada
Descripción
A novel approach for the extrinsic calibration of a camera-robot system, i.e. the estimation of the pose of the camera with respect to the robot coordinate system, is presented. The method is based on the relative pose of a planar pattern as seen by the camera, estimated along with a predefined set of simple robot motions. This set has been generated so as to exploit the kinematic constraints imposed by the robot architecture and the relative pose between the pattern and the camera coordinate system. The resulting calibration procedure is very simple, making it suitable to be used in a broad range of applications. Experimental evaluations on both synthetic and real data demonstrate the validity of the proposed method.
Sociedad Argentina de Informática e Investigación Operativa
Materia
Ciencias Informáticas
Extrinsic Calibration
Camera-Robot System
Nivel de accesibilidad
acceso abierto
Condiciones de uso
http://creativecommons.org/licenses/by-nc-sa/4.0/
Repositorio
SEDICI (UNLP)
Institución
Universidad Nacional de La Plata
OAI Identificador
oai:sedici.unlp.edu.ar:10915/125315
Acceder
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spelling Extrinsic calibration of a camera-robot system under non-holonomic constraintsAraguás, GastónPerez Paina, GonzaloSteiner, GuillermoCanali, LuisCiencias InformáticasExtrinsic CalibrationCamera-Robot SystemA novel approach for the extrinsic calibration of a camera-robot system, i.e. the estimation of the pose of the camera with respect to the robot coordinate system, is presented. The method is based on the relative pose of a planar pattern as seen by the camera, estimated along with a predefined set of simple robot motions. This set has been generated so as to exploit the kinematic constraints imposed by the robot architecture and the relative pose between the pattern and the camera coordinate system. The resulting calibration procedure is very simple, making it suitable to be used in a broad range of applications. Experimental evaluations on both synthetic and real data demonstrate the validity of the proposed method.Sociedad Argentina de Informática e Investigación Operativa2011-08info:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/publishedVersionObjeto de conferenciahttp://purl.org/coar/resource_type/c_5794info:ar-repo/semantics/documentoDeConferenciaapplication/pdf157-167http://sedici.unlp.edu.ar/handle/10915/125315enginfo:eu-repo/semantics/altIdentifier/issn/1850-2806info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nc-sa/4.0/Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)reponame:SEDICI (UNLP)instname:Universidad Nacional de La Platainstacron:UNLP2025-11-26T10:08:07Zoai:sedici.unlp.edu.ar:10915/125315Institucionalhttp://sedici.unlp.edu.ar/Universidad públicaNo correspondehttp://sedici.unlp.edu.ar/oai/snrdalira@sedici.unlp.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:13292025-11-26 10:08:07.3SEDICI (UNLP) - Universidad Nacional de La Platafalse
dc.title.none.fl_str_mv Extrinsic calibration of a camera-robot system under non-holonomic constraints
title Extrinsic calibration of a camera-robot system under non-holonomic constraints
spellingShingle Extrinsic calibration of a camera-robot system under non-holonomic constraints
Araguás, Gastón
Ciencias Informáticas
Extrinsic Calibration
Camera-Robot System
title_short Extrinsic calibration of a camera-robot system under non-holonomic constraints
title_full Extrinsic calibration of a camera-robot system under non-holonomic constraints
title_fullStr Extrinsic calibration of a camera-robot system under non-holonomic constraints
title_full_unstemmed Extrinsic calibration of a camera-robot system under non-holonomic constraints
title_sort Extrinsic calibration of a camera-robot system under non-holonomic constraints
dc.creator.none.fl_str_mv Araguás, Gastón
Perez Paina, Gonzalo
Steiner, Guillermo
Canali, Luis
author Araguás, Gastón
author_facet Araguás, Gastón
Perez Paina, Gonzalo
Steiner, Guillermo
Canali, Luis
author_role author
author2 Perez Paina, Gonzalo
Steiner, Guillermo
Canali, Luis
author2_role author
author
author
dc.subject.none.fl_str_mv Ciencias Informáticas
Extrinsic Calibration
Camera-Robot System
topic Ciencias Informáticas
Extrinsic Calibration
Camera-Robot System
dc.description.none.fl_txt_mv A novel approach for the extrinsic calibration of a camera-robot system, i.e. the estimation of the pose of the camera with respect to the robot coordinate system, is presented. The method is based on the relative pose of a planar pattern as seen by the camera, estimated along with a predefined set of simple robot motions. This set has been generated so as to exploit the kinematic constraints imposed by the robot architecture and the relative pose between the pattern and the camera coordinate system. The resulting calibration procedure is very simple, making it suitable to be used in a broad range of applications. Experimental evaluations on both synthetic and real data demonstrate the validity of the proposed method.
Sociedad Argentina de Informática e Investigación Operativa
description A novel approach for the extrinsic calibration of a camera-robot system, i.e. the estimation of the pose of the camera with respect to the robot coordinate system, is presented. The method is based on the relative pose of a planar pattern as seen by the camera, estimated along with a predefined set of simple robot motions. This set has been generated so as to exploit the kinematic constraints imposed by the robot architecture and the relative pose between the pattern and the camera coordinate system. The resulting calibration procedure is very simple, making it suitable to be used in a broad range of applications. Experimental evaluations on both synthetic and real data demonstrate the validity of the proposed method.
publishDate 2011
dc.date.none.fl_str_mv 2011-08
dc.type.none.fl_str_mv info:eu-repo/semantics/conferenceObject
info:eu-repo/semantics/publishedVersion
Objeto de conferencia
http://purl.org/coar/resource_type/c_5794
info:ar-repo/semantics/documentoDeConferencia
format conferenceObject
status_str publishedVersion
dc.identifier.none.fl_str_mv http://sedici.unlp.edu.ar/handle/10915/125315
url http://sedici.unlp.edu.ar/handle/10915/125315
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/issn/1850-2806
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-nc-sa/4.0/
Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-nc-sa/4.0/
Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
dc.format.none.fl_str_mv application/pdf
157-167
dc.source.none.fl_str_mv reponame:SEDICI (UNLP)
instname:Universidad Nacional de La Plata
instacron:UNLP
reponame_str SEDICI (UNLP)
collection SEDICI (UNLP)
instname_str Universidad Nacional de La Plata
instacron_str UNLP
institution UNLP
repository.name.fl_str_mv SEDICI (UNLP) - Universidad Nacional de La Plata
repository.mail.fl_str_mv alira@sedici.unlp.edu.ar
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score 13.011256

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