ICRA 2011 Paper Abstract

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Paper WeA114.2

Caron, Guillaume (University of Picardie Jules Verne), EYNARD, Damien (University of Picardie Jules Verne)

Multiple Camera Types Simultaneous Stereo Calibration

Scheduled for presentation during the Regular Sessions "Computer Vision for Robotics and Automation I" (WeA114), Wednesday, May 11, 2011, 08:35−08:50, Room 5J

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 10, 2019

Keywords Computer Vision for Robotics and Automation, Omnidirectional Vision

Abstract

Calibration is a classical issue in computer vision needed to retrieve 3D information from image measurements. This work presents a calibration approach for hybrid stereo rig involving multiple central camera types (perspective, fisheye, catadioptric). The paper extends the method of monocular perspective camera calibration using virtual visual servoing. The simultaneous intrinsic and extrinsic calibration of central cameras rig, using different models for each camera, is developed. The presented approach is suitable for the calibration of rigs composed by N cameras modelled by N different models. Calibration results, compared with state of the art approaches, and a 3D plane estimation application, allowed by the calibration, show the effectiveness of the approach. A cross-platform software implementing this method is available online.

 

 

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