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Proceedings Paper

Calibration of the active stereo vision system KASTOR with standardized perspective matrices
Author(s): F. Wallner; Peter Weckesser; Ruediger Dillmann
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Paper Abstract

In this paper the new active stereo vision head of the IPR is presented. It is designed to serve as a flexible sensing device mounted on a mobile robot platform. KASTOR has eight motorized optical and mechanical degrees of freedom. The article describes the design of KASTOR as well as the real-time vision system it is connected to. Then a new head calibration technique is presented. The perspective matrices are computed directly without the need to determine internal or external camera parameters. This is achieved by the observation of a reference object in a scene. As soon as the robot moves any of its degrees of freedom, the calibration has to be updated. However it is difficult and time expensive to define a reference object when the head is mounted on a mobile robot. A solution is to compute all possible perspective matrices in advance and to store them in the memory. During autonomous operation the correct matrices are selected according to the head-configuration. A standardizing technique is presented, which reduces the amount of matrices to be stored significantly. Finally the article discusses the quality of calibration when in use as active sensing device on a mobile robot.

Paper Details

Date Published: 1 March 1994
PDF: 8 pages
Proc. SPIE 2252, Optical 3D Measurement Techniques II: Applications in Inspection, Quality Control, and Robotics, (1 March 1994); doi: 10.1117/12.169825
Show Author Affiliations
F. Wallner, Univ. Karlsruhe (Germany)
Peter Weckesser, Univ. Karlsruhe (Germany)
Ruediger Dillmann, Univ. Karlsruhe (Germany)

Published in SPIE Proceedings Vol. 2252:
Optical 3D Measurement Techniques II: Applications in Inspection, Quality Control, and Robotics
Armin Gruen; Heribert Kahmen, Editor(s)

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