A Simple and Accurate Camera Calibration for the F180 RoboCup League
RoboCup 2001: Robot Soccer World Cup V
Robust Auto-Calibration from Pedestrians
AVSS '06 Proceedings of the IEEE International Conference on Video and Signal Based Surveillance
Estimation of Internal and External Parameters for Camera Calibration Using 1D Pattern
AVSS '06 Proceedings of the IEEE International Conference on Video and Signal Based Surveillance
Moving target tracking and measurement with a binocular vision system
International Journal of Computer Applications in Technology
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Robots perceiving their environment using cameras usually need a good representation of how the camera is aligned to the body and how the camera is rotated relative to the ground. This is especially important for bearing-based distance measurements. In this paper we show how to use reference objects to improve vision-based distance measurements to objects of unknown size. Several methods for different kinds of reference objects are introduced. These are objects of known size (like a ball), objects extending over the horizon (like goals and beacons), and objects with known shape on the ground (like field lines). We give a detailed description how to determine the rotation of the robot's camera relative to the ground, provide an error-estimation for all methods and describe the experiments we performed on an Aibo robot.