Applied Informatics Group

An Online Stereo Calibration System for Humanoid Robots demonstrated on the iCub Platform

TitleAn Online Stereo Calibration System for Humanoid Robots demonstrated on the iCub Platform
Publication TypeMaster Thesis
AuthorsThöns, C.
Year2011
Abstract

Since most humanoid robots have one camera in each eye, they are well applicable for using stereo vision. In this work a stereo vision system for such robots is described. Besides the general calibration process and the generation of a 3D image, the system also provides a method to automatically recalibrate the extrinsic parameters, when the cameras move relative to each other. This calibration can be done by using uniquely detectable objects with known geometry like ARToolkit markers or by detecting corresponding features with both cameras.

Supervised ByHolthaus, P., Kummert, Franz, and Lohan, Katrin S.
Academic DepartmentFaculty of Technology

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