Planar Motion and Hand-eye Calibration using Inter-image Homographies from a Planar Scene

Mårten Wadenbäck, Anders Heyden

Abstract

In this paper we consider a mobile platform performing partial hand-eye calibration and Simultaneous Localisation and Mapping (SLAM) using images of the floor along with the assumptions of planar motion and constant internal camera parameters. The method used is based on a direct parametrisation of the camera motion, combined with an iterative scheme for determining the motion parameters from inter-image homographies. Experiments are carried out on both real and synthetic data. For the real data, the estimates obtained are compared to measurements by an industrial robot, which serve as ground truth. The results demonstrate that our method produces consistent estimates of the camera position and orientation. We also make some remarks about patterns of motion for which the method fails.

References

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Paper Citation


in Harvard Style

Wadenbäck M. and Heyden A. (2013). Planar Motion and Hand-eye Calibration using Inter-image Homographies from a Planar Scene . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2013) ISBN 978-989-8565-48-8, pages 164-168. DOI: 10.5220/0004293701640168


in Bibtex Style

@conference{visapp13,
author={Mårten Wadenbäck and Anders Heyden},
title={Planar Motion and Hand-eye Calibration using Inter-image Homographies from a Planar Scene},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2013)},
year={2013},
pages={164-168},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004293701640168},
isbn={978-989-8565-48-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2013)
TI - Planar Motion and Hand-eye Calibration using Inter-image Homographies from a Planar Scene
SN - 978-989-8565-48-8
AU - Wadenbäck M.
AU - Heyden A.
PY - 2013
SP - 164
EP - 168
DO - 10.5220/0004293701640168