КФУ. Карточка публикации. Experiments on mobile robot stereo vision system calibration under hardware imperfection

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EXPERIMENTS ON MOBILE ROBOT STEREO VISION SYSTEM CALIBRATION UNDER HARDWARE IMPERFECTION

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2018

Язык

английский

Авторы, сотрудники КФУ

Лавренов Роман Олегович, автор

Магид Евгений Аркадьевич, автор

Сафин Рамиль Набиуллович, автор

Авторы, аспиранты КФУ

Лавренов Роман Олегович, автор

Авторы, студенты КФУ

Сафин Рамиль Набиуллович, автор

Библиографическое описание на языке оригинала

Safin R. Experiments on mobile robot stereo vision system calibration under hardware imperfection / Lavrenov R., Saha S. K., Magid E. // MATEC Web of Conferences. - 2018. - Vol. 161 (03020).

Аннотация

Calibration is essential for any robot vision system for achieving high accuracy in deriving objects metric information. One of typical requirements for a stereo vison system in order to obtain better calibration results is to guarantee that both cameras keep the same vertical level. However, cameras may be displaced due to severe conditions of a robot operating or some other circumstances. This paper presents our experimental approach to the problem of a mobile robot stereo vision system calibration under a hardware imperfection. In our experiments, we used crawler-type mobile robot «Servosila Engineer». Stereo system cameras of the robot were displaced relative to each other, causing loss of surrounding environment information. We implemented and verified checkerboard and circle grid based calibration methods. The two methods comparison demonstrated that a circle grid based calibration should be preferred over a classical checkerboard calibration approach.

Ключевые слова

Calibration method, Experimental approaches, High-accuracy, Metric information, Robot vision systems, Stereo system, Stereo vision system, Surrounding environment

Название журнала

MATEC Web of Conferences

URL

https://www.matec-conferences.org/articles/matecconf/abs/2018/20/matecconf_erzr2018_03020/matecconf_erzr2018_03020.html

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https://repository.kpfu.ru/?p_id=181195

Файлы ресурса

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F_matecconf_erzr2018_03020.pdf	1,33	pdf	посмотреть / скачать

Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Лавренов Роман Олегович	ru_RU
dc.contributor.author	Магид Евгений Аркадьевич	ru_RU
dc.contributor.author	Сафин Рамиль Набиуллович	ru_RU
dc.contributor.author	Сафин Рамиль Набиуллович	ru_RU
dc.contributor.author	Лавренов Роман Олегович	ru_RU
dc.date.accessioned	2018-01-01T00:00:00Z	ru_RU
dc.date.available	2018-01-01T00:00:00Z	ru_RU
dc.date.issued	2018	ru_RU
dc.identifier.citation	Safin R. Experiments on mobile robot stereo vision system calibration under hardware imperfection / Lavrenov R., Saha S. K., Magid E. // MATEC Web of Conferences. - 2018. - Vol. 161 (03020).	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=181195	ru_RU
dc.description.abstract	MATEC Web of Conferences	ru_RU
dc.description.abstract	Calibration is essential for any robot vision system for achieving high accuracy in deriving objects metric information. One of typical requirements for a stereo vison system in order to obtain better calibration results is to guarantee that both cameras keep the same vertical level. However, cameras may be displaced due to severe conditions of a robot operating or some other circumstances. This paper presents our experimental approach to the problem of a mobile robot stereo vision system calibration under a hardware imperfection. In our experiments, we used crawler-type mobile robot «Servosila Engineer». Stereo system cameras of the robot were displaced relative to each other, causing loss of surrounding environment information. We implemented and verified checkerboard and circle grid based calibration methods. The two methods comparison demonstrated that a circle grid based calibration should be preferred over a classical checkerboard calibration approach.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Calibration method	ru_RU
dc.subject	Experimental approaches	ru_RU
dc.subject	High-accuracy	ru_RU
dc.subject	Metric information	ru_RU
dc.subject	Robot vision systems	ru_RU
dc.subject	Stereo system	ru_RU
dc.subject	Stereo vision system	ru_RU
dc.subject	Surrounding environment	ru_RU
dc.title	Experiments on mobile robot stereo vision system calibration under hardware imperfection	ru_RU
dc.type	Статьи в зарубежных журналах и сборниках	ru_RU