Numerical recipes in C: the art of scientific computing
Numerical recipes in C: the art of scientific computing
An analytic solution for the perspective 4-point problem
Computer Vision, Graphics, and Image Processing
Determination of the Attitude of 3D Objects from a Single Perspective View
IEEE Transactions on Pattern Analysis and Machine Intelligence
A camera calibration technique using three sets of parallel lines
Machine Vision and Applications
Using vanishing points for camera calibration
International Journal of Computer Vision
Finding the position and orientation of a sensor on a robot manipulator using quaternions
International Journal of Robotics Research
Pose Determination from Line-to-Plane Correspondences: Existence Condition and Closed-Form Solutions
IEEE Transactions on Pattern Analysis and Machine Intelligence
Model-based object pose in 25 lines of code
International Journal of Computer Vision - Special issue: image understanding research at the University of Maryland
International Journal of Computer Vision
Computer Vision and Image Understanding
Pose estimation using point and line correspondences
Real-Time Imaging
Fundamentals of Manipulator Calibration
Fundamentals of Manipulator Calibration
Object Pose by Affine Iterations
ICIAP '97 Proceedings of the 9th International Conference on Image Analysis and Processing-Volume I - Volume I
Integrative Architecture of the Autonomous Hand-Eye Robot JANUS
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
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This article is concerned with calibrating ananthropomorphic two-armed robot equipped with a stereo-camera visionsystem, that is estimating the different geometric relationshipsinvolved in the model of the robot. The calibration procedure that ispresented is fully vision-based: the relationships between eachcamera and the neck and between each arm and the neck are determinedusing visual measurements. The online calculation of all therelationships involved in the model of the robot is obtained withsatisfactory precision and, above all, without expensive calibrationmechanisms. For this purpose, two new main algorithms have beendeveloped. The first one implements a non-linear optimization methodusing quaternions for camera calibration from 2D to 3D point or linecorrespondences. The second one implements a real-time camera poseestimation method based on the iterative use of a paraperspectivecamera model.