Abstract
In order to initialize a camera-guided grasping of a known object, rough 3-D localization data of the object relative to the camera are used. Although the 3-D data need not be more than rough, we need the intrinsic parameters of the camera for calculating these 3-D data. The extrinsic parameters are required to move the camera.
This paper proposes a method for simplified automatic calibration of a mobile camera. The intrinsic parameters are estimated separately in succession with the help of a grid of points. In order to determine the extrinsic parameters, the location of the camera relative to the gripper is needed. This location can be calculated using a certain location of the camera relative to the scene coordinate frame. The exactness of this calibration will suffice for the support a camera-guided grasping.
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© 1992 Springer-Verlag Berlin Heidelberg
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Schrott, A. (1992). A calibration of a mobile camera used for a camera-guided grasping by an eye-in-hand robot. In: Belli, F., Radermacher, F.J. (eds) Industrial and Engineering Applications of Artificial Intelligence and Expert Systems. IEA/AIE 1992. Lecture Notes in Computer Science, vol 604. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0024990
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DOI: https://doi.org/10.1007/BFb0024990
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