Abstract
Calibration of coordinate systems between cameras and world coordinate system is of key importance in augmented reality. In this paper, a multi-sensor mechanical tracking method is proposed based on robot hand-eye calibration. The original camera pose estimation is obtained using computer vision algorithm by improved orthogonal iteration. In tracking process, the camera extrinsic parameters, i.e. rotation and translation matrixes are got by rotary angles of sensors mounted on the multi-arm mechanical system. Users can observe augmented scene on the video see-through display set on the end of the arms and move in six degree of freedom by linkage motion. The tracking accuracy and test application are presented.
This research work was supported by the National Natural Science Foundation of China (30900385).
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Zhang, Y., Li, L., Zhou, Y., Su, T., Ma, JT., Hu, XM. (2012). Multi-sensor Augmented Reality Tracking Based on Robot Hand-Eye Calibration. In: Luo, J. (eds) Affective Computing and Intelligent Interaction. Advances in Intelligent and Soft Computing, vol 137. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-27866-2_7
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DOI: https://doi.org/10.1007/978-3-642-27866-2_7
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