The Advantage of Mounting a Camera onto a Robot Arm

Radu Horaud 1, 2 Roger Mohr 1, 2 Fadi Dornaika 2 Boubakeur Boufama 1, 2
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : In this paper we describe a method for recovering Euclidean structure of an unknown scene with an uncalibrated camera mounted onto a robot arm. More precisely the method achieves the following tasks : the projective structure of the scene obtained with a projective reconstruction algorithm is converted into an Euclidean structure and the intrinsic camera parameters are estimated as well as the hand/eye calibration parameters. We cast the problem into a simple set of matrix equations and we determine under which motions the solution is unique. Then we provide a simple algorithm for implementing the method in practice. Finally the experimental results obtained with our method are compared with classical camera and hand/eye calibration techniques.
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Radu Horaud, Roger Mohr, Fadi Dornaika, Boubakeur Boufama. The Advantage of Mounting a Camera onto a Robot Arm. Europe-China Workshop on Geometrical Modelling and Invariants for Computer Vision, Xian, China, Apr 1995, Xian, China. pp.206--213. ⟨inria-00548389⟩

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