KFU. Card publication. Experiments on mobile robot stereo vision system calibration under hardware imperfection

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

EXPERIMENTS ON MOBILE ROBOT STEREO VISION SYSTEM CALIBRATION UNDER HARDWARE IMPERFECTION

Form of presentation

Articles in international journals and collections

Year of publication

2018

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Authors, employees of KFU

Lavrenov Roman Olegovich, author

Magid Evgeniy Arkadevich, author

Safin Ramil Nabiullovich, author

Authors, postgraduates KFU

Lavrenov Roman Olegovich, postgraduate kfu

Authors, students KFU

Safin Ramil Nabiullovich, author

Bibliographic description in the original language

Safin R. Experiments on mobile robot stereo vision system calibration under hardware imperfection / Lavrenov R., Saha S. K., Magid E. // MATEC Web of Conferences. - 2018. - Vol. 161 (03020).

Annotation

Calibration is essential for any robot vision system for achieving high accuracy in deriving objects metric information. One of typical requirements for a stereo vison system in order to obtain better calibration results is to guarantee that both cameras keep the same vertical level. However, cameras may be displaced due to severe conditions of a robot operating or some other circumstances. This paper presents our experimental approach to the problem of a mobile robot stereo vision system calibration under a hardware imperfection. In our experiments, we used crawler-type mobile robot «Servosila Engineer». Stereo system cameras of the robot were displaced relative to each other, causing loss of surrounding environment information. We implemented and verified checkerboard and circle grid based calibration methods. The two methods comparison demonstrated that a circle grid based calibration should be preferred over a classical checkerboard calibration approach.

Keywords

Calibration method, Experimental approaches, High-accuracy, Metric information, Robot vision systems, Stereo system, Stereo vision system, Surrounding environment

The name of the journal

MATEC Web of Conferences

URL

https://www.matec-conferences.org/articles/matecconf/abs/2018/20/matecconf_erzr2018_03020/matecconf_erzr2018_03020.html

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=181195&p_lang=2

Resource files

File name	Size (MB)	Format
F_matecconf_erzr2018_03020.pdf	1,33	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Safin Ramil Nabiullovich	ru_RU
dc.contributor.author	Safin Ramil Nabiullovich	ru_RU
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.date.accessioned	2018-01-01T00:00:00Z	ru_RU
dc.date.available	2018-01-01T00:00:00Z	ru_RU
dc.date.issued	2018	ru_RU
dc.identifier.citation	Safin R. Experiments on mobile robot stereo vision system calibration under hardware imperfection / Lavrenov R., Saha S. K., Magid E. // MATEC Web of Conferences. - 2018. - Vol. 161 (03020).	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=181195&p_lang=2	ru_RU
dc.description.abstract	MATEC Web of Conferences	ru_RU
dc.description.abstract	Calibration is essential for any robot vision system for achieving high accuracy in deriving objects metric information. One of typical requirements for a stereo vison system in order to obtain better calibration results is to guarantee that both cameras keep the same vertical level. However, cameras may be displaced due to severe conditions of a robot operating or some other circumstances. This paper presents our experimental approach to the problem of a mobile robot stereo vision system calibration under a hardware imperfection. In our experiments, we used crawler-type mobile robot «Servosila Engineer». Stereo system cameras of the robot were displaced relative to each other, causing loss of surrounding environment information. We implemented and verified checkerboard and circle grid based calibration methods. The two methods comparison demonstrated that a circle grid based calibration should be preferred over a classical checkerboard calibration approach.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Calibration method	ru_RU
dc.subject	Experimental approaches	ru_RU
dc.subject	High-accuracy	ru_RU
dc.subject	Metric information	ru_RU
dc.subject	Robot vision systems	ru_RU
dc.subject	Stereo system	ru_RU
dc.subject	Stereo vision system	ru_RU
dc.subject	Surrounding environment	ru_RU
dc.title	Experiments on mobile robot stereo vision system calibration under hardware imperfection	ru_RU
dc.type	Articles in international journals and collections	ru_RU