Volumetric Calibration of Stereo Camera in Visual Servo Based Robot Control
The primary objective of the paper is to propose a calibration method for a stereo camera used in a visual servo control for a robot manipulator. Specifically, projection matrix between the stereo camera and world coordinates is established using few calibration points and solved using the single va...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2009-03-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/6767 |
| _version_ | 1819019627437490176 |
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| author | Perez Ulises Cho Sohyung Asfour and Shihab |
| author_facet | Perez Ulises Cho Sohyung Asfour and Shihab |
| author_sort | Perez Ulises |
| collection | DOAJ |
| description | The primary objective of the paper is to propose a calibration method for a stereo camera used in a visual servo control for a robot manipulator. Specifically, projection matrix between the stereo camera and world coordinates is established using few calibration points and solved using the single value decomposition technique. Then calibration accuracy is compared for a randomized and designed set of points, and economical number of calibration points is recommended. Additionally, the non-linear lens distortion is modeled and corrected to improve the accuracy. In addition, this research focuses on the development and implementation of a fully automated visual servo control system using a stereo camera that is calibrated by proposed method. |
| first_indexed | 2024-12-21T03:38:19Z |
| format | Article |
| id | doaj.art-c71d9fb55443451a868e2f5d7dfa1671 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-21T03:38:19Z |
| publishDate | 2009-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-c71d9fb55443451a868e2f5d7dfa16712022-12-21T19:17:17ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142009-03-01610.5772/676710.5772_6767Volumetric Calibration of Stereo Camera in Visual Servo Based Robot ControlPerez Ulises0Cho Sohyung1Asfour and Shihab2 Industrial Engineering, University of Miami, Coral Gable, FL 33146, USA Industrial and Manufacturing Engineering, Southern Illinois University Edwardsville, Edwardsville, IL 62026, USA Industrial Engineering, University of Miami, Coral Gable, FL 33146, USAThe primary objective of the paper is to propose a calibration method for a stereo camera used in a visual servo control for a robot manipulator. Specifically, projection matrix between the stereo camera and world coordinates is established using few calibration points and solved using the single value decomposition technique. Then calibration accuracy is compared for a randomized and designed set of points, and economical number of calibration points is recommended. Additionally, the non-linear lens distortion is modeled and corrected to improve the accuracy. In addition, this research focuses on the development and implementation of a fully automated visual servo control system using a stereo camera that is calibrated by proposed method.https://doi.org/10.5772/6767 |
| spellingShingle | Perez Ulises Cho Sohyung Asfour and Shihab Volumetric Calibration of Stereo Camera in Visual Servo Based Robot Control International Journal of Advanced Robotic Systems |
| title | Volumetric Calibration of Stereo Camera in Visual Servo Based Robot Control |
| title_full | Volumetric Calibration of Stereo Camera in Visual Servo Based Robot Control |
| title_fullStr | Volumetric Calibration of Stereo Camera in Visual Servo Based Robot Control |
| title_full_unstemmed | Volumetric Calibration of Stereo Camera in Visual Servo Based Robot Control |
| title_short | Volumetric Calibration of Stereo Camera in Visual Servo Based Robot Control |
| title_sort | volumetric calibration of stereo camera in visual servo based robot control |
| url | https://doi.org/10.5772/6767 |
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