Robotics tools for constructing stereo systems using off-the-shelf cameras

  • Authors:

  • Vitaliy Rybak;V. Ismael De J. Pérez

  • Affiliations:

  • División de estudios de posgrado, Universidad Tecnológica de la Mixteca, Huajuapan de León, Oaxaca, México;División de estudios de posgrado, Universidad Tecnológica de la Mixteca, Huajuapan de León, Oaxaca, México

  • Venue:
  • VIS '10 Proceedings of the 3rd WSEAS international conference on Visualization, imaging and simulation
  • Year:
  • 2010

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Abstract

The presented work is a part of the development of the sensory system of a service robot. Tools developed to construct the low cost canonic and convergent stereosystems using off-the-shelf cameras are presented. The method of constructing proposed is based on the simultaneous individual calibration of every camera using the same mask. To adjust a camera with regard to other one a manipulator of 6 degrees of freedom is used. The developed software allows us to realize the change of the position and orientation of the camera in an automatic way. Using the calibration system the developed tools are applicable for examination and equalization of the focal lengths of two cameras of the stereo system under constructing and also of the cameras of ready stereosystems. As the mechanism to construct the stereosystems the manipulator PowerCube is used.