Share Email Print

Proceedings Paper

A Multisensor Robotic Locating System And The Camera Calibration Problem
Author(s): William J. Wolfe; Gordon K. White; Lewis J. Pinson
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

A multisensor, microprocessor-controlled robotic locating system (RLS) is being devel-oped in our machine intelligence laboratory. A video camera, laser illuminator, optical angle sensors, and ultrasonics are the primary sensor components. Software is being de-veloped on a personal computer that has been augmented with video acquisition and high-speed signal processing boards. Real-time (less than 1 second) algorithms are being implemented that exploit both natural and artificial patterns. Artificial patterns are introduced by planting light-emitting diodes (LED) and reflective materials in the envi-ronment. Projecting light patterns is also part of the design. Using control points to determine camera position and orientation is a particularly interesting problem because of its apparent simplicity. Several algorithms for calibrat-ing a camera using control points are discussed in detail. The use of four control points in a rectangular configuration is especially detailed. A review of various approaches to camera calibration is included. The methods pre-sented are from the literature and work performed by the authors. These different ap-proaches provide insight into the nature of the problems. Closed form solutions are emphasized.

Paper Details

Date Published: 11 December 1985
PDF: 12 pages
Proc. SPIE 0579, Intelligent Robots and Computer Vision IV, (11 December 1985); doi: 10.1117/12.950829
Show Author Affiliations
William J. Wolfe, Martin Marietta Denver Aerospace (United States)
Gordon K. White, Martin Marietta Denver Aerospace (United States)
Lewis J. Pinson, University of Colorado (United States)

Published in SPIE Proceedings Vol. 0579:
Intelligent Robots and Computer Vision IV
David P. Casasent, Editor(s)

© SPIE. Terms of Use
Back to Top