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Estimation of 4-DoF manipulator optimal configuration for autonomous camera calibration of a mobile robot using on-board templates

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dc.contributor.author Tsoy T.
dc.contributor.author Safin R.
dc.contributor.author Magid E.
dc.contributor.author Kumar Saha S.
dc.date.accessioned 2022-02-09T20:46:12Z
dc.date.available 2022-02-09T20:46:12Z
dc.date.issued 2021
dc.identifier.uri https://dspace.kpfu.ru/xmlui/handle/net/170157
dc.description.abstract Camera calibration is one of the important tasks in the field of robotics and computer vision. It enables to increase the accuracy of metric measurements in photogrammetry applications and provides higher performance in computer vision algorithms such as stereo matching and motion estimation. It is known that regardless of the calibration method used variation of given estimated camera parameters their is inevitable due to multiple reasons: varying weather conditions, temperature fluctuations or severe operation mode of a robotic system. In order to alleviate the aforementioned issues recalibration is required. In this work we employed 4-DoF manipulator Servosila Engineer mobile robotic system equipped with an on-board camera. In order to automate the process of calibration an algorithm is developed which enables to estimate optimal manipulator joint configurations. Forward kinematics is solved on a discretized set of joint angles, subsequently estimating possible camera positions for its further calibration. Experiments on real robot demonstrate the possibility of usage of the developed algorithm to find optimal joint configurations for automatic camera calibration.
dc.subject camera calibration
dc.subject kinematics
dc.subject manipulator
dc.subject mobile robot
dc.title Estimation of 4-DoF manipulator optimal configuration for autonomous camera calibration of a mobile robot using on-board templates
dc.type Conference Proceeding
dc.collection Публикации сотрудников КФУ
dc.source.id SCOPUS-2021-SID85107680574


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  • Публикации сотрудников КФУ Scopus [24551]
    Коллекция содержит публикации сотрудников Казанского федерального (до 2010 года Казанского государственного) университета, проиндексированные в БД Scopus, начиная с 1970г.

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