Calibration of distributed vision network in unified coordinate system by mobile robots
Calibration of distributed vision network in unified coordinate system by mobile robots
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DOI：
10.1109/robot.2008.4543400
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发表时间：
2008-05
期刊：
影响因子：
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通讯作者：
T. Yokoya;T. Hasegawa;R. Kurazume
中科院分区：
文献类型：
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作者：
T. Yokoya;T. Hasegawa;R. Kurazume
提出了一种在统一世界坐标系下的分布式视觉网络标定方法。视觉网络系统旨在支持机器人在日常人类生活环境中工作：该系统提供对机器人周围动态变化情况的视觉观察。视觉摄像机的分布相当稀疏，覆盖了大范围的区域，如城镇的一个街区。位置、观察方向和观察范围是该方法要估计的主要摄像机参数。由一组具有协作定位功能和安装在机器人主体上的视觉上可辨别的标记的移动机器人提供用于每个分布式相机的校准数据集。
This paper proposes a 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 block 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.