吉林大学学报(工学版)

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Multicamera calibration used in distributed vision composite navigation of autonomous mobile robot

Lu Shao-fang1, Liu Da-wei2, Chen Bing-cong3   

  1. 1.College of Communication, Jilin University, Changchun 130022, China; 2.Research Center for Vehicle and Communications Engineering,Qingdao University, Qingdao 266071,China; 3.College of Biological and Agricultural Engineering, Jilin University,
  • Received:2004-09-06 Revised:2004-11-08 Online:2006-05-01 Published:2006-05-01
  • Contact: Lu Shaofang

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Abstract: Due to the fact that the distributed vision composite navigation system of the autonomous mobile robot requries making use of the overall vision to perform the absolute locating of the robot, aiming at the problem of that when the robot locates far from the camera, the locating precision will deteriorate seriously, a multicamera parametrially partitioned calibration method suitable for large scenes was proposed. The relation between the total working region of the mobile robot and the effective region of every camera was described using the concept of set. A camera parametric calibration model was built based on the perspective transformation matrix from the space plane of the hole model to the image plane of the camera. The calibration experiment with 4 cameras in a 9.6 m×6.4 m region and the error analysis shows that the total mean error is only 7.96 mm.

Key words: automatic control technology, mobile robot, navigation, camera calibration

CLC Number: 

  • TP242
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