2A2-L01 移動ロボットによる統一座標系での広域分散カメラキャリブレーション(空間知)

概要

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This paper proposes an automated calibration method of a distributed vision network in a unified world coordinate system. The vision network system is conceived to support a robot working in our daily human life environment: the system provides with visual observation of the dynamically changing situation surrounding the robot. Vision cameras are rather sparsely distributed to cover a wide area such as a quarter of a town. Position, view direction and range of view are the camera parameters of principal importance to be estimated by the proposed method. A set of calibration data for each distributed camera is provided by a group of mobile robots having a cooperative positioning function and visually distinguishable markers mounted on the body of the robot. Through distributed camera calibration experiment, we confirmed the validity.
一般社団法人日本機械学会の論文
2007-05-11