2P2-B10 カメラの設置誤差を考慮した画像座標の校正法(ロボットビジョン)

概要

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In recent years, the robot which can operate in place of a person is needed in a factory. Therefore, in this research camera is way for a robot system. In this paper, a calibration method of image coordinates is presented. Heretofore, in conversion process from image coordinates to three dimensional location, stereo cameras must be parallel. However, in this time there are errors of camera setting, parallel setting of stereo camera is difficult. And so, we propose a calibration method of image coordinates for setting error of camera. At first, we will develop a calibration method for convergence angle of cameras. We need determination of baseline direction and convergence angle of two camera in order that we use this method. Then, we try method of determination of baseline direction and convergence angle of two cameras with landmark. Availability of this method comes out by experiments.
一般社団法人日本機械学会の論文
2008-06-06