scholarly journals A 3D Machine Vision-Enabled Intelligent Robot Architecture

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Yanjun Zhang ◽  
Jianxin zhao ◽  
Heyong Han
Keyword(s):  
Camera Calibration ◽  
Binocular Vision ◽  
Three Dimensional ◽  
Calibration Method ◽  
Transformation Model ◽  
Automatic Calibration ◽  
Robot Architecture ◽  
Positioning Method ◽  
Machine Interface ◽  
Vision Module

In this paper, the principle of camera imaging is studied, and the transformation model of camera calibration is analyzed. Based on Zhang Zhengyou’s camera calibration method, an automatic calibration method for monocular and binocular cameras is developed on a multichannel vision platform. The automatic calibration of camera parameters using human-machine interface of the host computer is realized. Based on the principle of binocular vision, a feasible three-dimensional positioning method for binocular target points is proposed and evaluated to provide binocular three-dimensional positioning of target in simple environment. Based on the designed multichannel vision platform, image acquisition, preprocessing, image display, monocular and binocular automatic calibration, and binocular three-dimensional positioning experiments are conducted. Moreover, the positioning error is analyzed, and the effectiveness of the binocular vision module is verified to justify the robustness of our approach.

scholarly journals Charuco Board-Based Omnidirectional Camera Calibration Method

Electronics ◽  
2018 ◽  
Vol 7 (12) ◽  
pp. 421 ◽  
Author(s):  
Gwon An ◽  
Siyeong Lee ◽  
Min-Woo Seo ◽  
Kugjin Yun ◽  
Won-Sik Cheong ◽  
...  
Keyword(s):  
Camera Calibration ◽  
Mean Absolute Error ◽  
Three Dimensional ◽  
Absolute Error ◽  
Calibration Method ◽  
Feature Points ◽  
Omnidirectional Camera ◽  
Reprojection Error ◽  
Conventional Methods ◽  
Better Than

In this paper, we propose a Charuco board-based omnidirectional camera calibration method to solve the problem of conventional methods requiring overly complicated calibration procedures. Specifically, the proposed method can easily and precisely provide two-dimensional and three-dimensional coordinates of patterned feature points by arranging the omnidirectional camera in the Charuco board-based cube structure. Then, using the coordinate information of the feature points, an intrinsic calibration of each camera constituting the omnidirectional camera can be performed by estimating the perspective projection matrix. Furthermore, without an additional calibration structure, an extrinsic calibration of each camera can be performed, even though only part of the calibration structure is included in the captured image. Compared to conventional methods, the proposed method exhibits increased reliability, because it does not require additional adjustments to the mirror angle or the positions of several pattern boards. Moreover, the proposed method calibrates independently, regardless of the number of cameras comprising the omnidirectional camera or the camera rig structure. In the experimental results, for the intrinsic parameters, the proposed method yielded an average reprojection error of 0.37 pixels, which was better than that of conventional methods. For the extrinsic parameters, the proposed method had a mean absolute error of 0.90° for rotation displacement and a mean absolute error of 1.32 mm for translation displacement.

scholarly journals Monocular Vision Ranging and Camera Focal Length Calibration

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Lixia Xue ◽  
Meian Li ◽  
Liang Fan ◽  
Aixia Sun ◽  
Tian Gao
Keyword(s):  
Camera Calibration ◽  
Polynomial Regression ◽  
Focal Length ◽  
Three Dimensional ◽  
Calibration Method ◽  
Monocular Vision ◽  
Field Of Vision ◽  
Average Accuracy ◽  
Ground Object ◽  
The Relationship

The camera calibration in monocular vision represents the relationship between the pixels’ units which is obtained from a camera and the object in the real world. As an essential procedure, camera calibration calculates the three-dimensional geometric information from the captured two-dimensional images. Therefore, a modified camera calibration method based on polynomial regression is proposed to simplify. In this method, a parameter vector is obtained by pixel coordinates of obstacles and corresponding distance values using polynomial regression. The set of parameter’s vectors can measure the distance between the camera and the ground object in the field of vision under the camera’s posture and position. The experimental results show that the lowest accuracy of this focal length calibration method for measurement is 97.09%, and the average accuracy was 99.02%.

The Projector Calibration Based on ZHANG’s Self-Calibration Method

2014 ◽  
Vol 981 ◽  
pp. 364-367
Author(s):  
Guang Yu ◽  
Bo Yang Yu ◽  
Shu Cai Yang ◽  
Li Wen ◽  
Wen Fei Dong ◽  
...  
Keyword(s):  
Camera Calibration ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Calibration Method ◽  
Linear Calibration ◽  
Self Calibration ◽  
Operation Process ◽  
Projector Calibration ◽  
Calibration Algorithm ◽  
Relationship Of

Projector calibration can be seen as a special case of the camera calibration. It can establish the relationship of the three dimensional space coordinates for points and projector image coordinates for points DMD by using a projector to project coding pattern. In camera calibration, ZHANG’s self-calibration was conducted in the maximum likelihood linear refinement. Operation process takes the lens distortion factors into account finding out the camera internal and external parameters finally. Using this algorithm to the projector calibration can solve the traditional linear calibration algorithm which is complex and poor robustness. Otherwise, it can improve the practicability of calibration method. This method can both calibrate the internal and external parameters of projector, which can solve the problem of independently inside or outside calibration.

The On-Line Calibration Research of the Picking Robot Binocular Vision System

2012 ◽  
Vol 522 ◽  
pp. 634-637
Author(s):  
Ke Yin Chen ◽  
Xiang Jun Zou ◽  
Li Juan Chen
Keyword(s):  
Camera Calibration ◽  
Binocular Vision ◽  
Vision System ◽  
Three Dimensional ◽  
Reference Object ◽  
Systems Research ◽  
Accuracy And Precision ◽  
Calibration Algorithm ◽  
On Line ◽  
Binocular Vision System

In the picking robot binocular vision systems research, the camera calibration is often an indispensable step and these basements to locate the target of the object and rebuild the three-dimensional construction based on the robot stereo vision for the follow-up study. So, searching for a high accuracy and simple camera calibration algorithm is of great significance and necessary. However, For most of these camera calibration algorithms, it is necessary to establish a reference object, namely the target, in front of the camera at present, but posing the target is very not convenient or almost impossible in some cases. Therefore, a picking robot online calibration algorithm based on the vision scene was proposed by studying the work environment characteristics of the picking robot binocular vision system and the invariant projective geometry. The experimental results showed that this algorithm’s calibration accuracy and precision good meets to the requirement of the robot binocular vision system camera calibration in the complex environment.

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