| Форма представления | Тезисы и материалы конференций в зарубежных журналах и сборниках |
| Год публикации | 2021 |
| Язык | английский |
|
Магид Евгений Аркадьевич, автор
Сафин Рамиль Набиуллович, автор
Цой Татьяна Григорьевна, автор
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|
Саха Субир К. , автор
|
|
Сафин Рамиль Набиуллович, автор
Цой Татьяна Григорьевна, автор
|
| Библиографическое описание на языке оригинала |
Tsoy T., Safin R., Magid E. and Saha S.K. Estimation of 4-DoF manipulator optimal configuration for autonomous camera calibration of a mobile robot using on-board templates // The 15th Siberian Conference on Control and Communications (SIBCON 2021) (Kazan, Russia; 13-15 May 2021) (online) - № 9438925. |
| Аннотация |
2021 International Siberian Conference on Control and Communications (SIBCON) |
| Ключевые слова |
camera calibration, manipulator, kinematics, mobile robot |
| Название журнала |
2021 International Siberian Conference on Control and Communications (SIBCON)
|
| URL |
https://ieeexplore.ieee.org/document/9438925 |
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=250509 |
| Файлы ресурса | |
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Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Магид Евгений Аркадьевич |
ru_RU |
| dc.contributor.author |
Сафин Рамиль Набиуллович |
ru_RU |
| dc.contributor.author |
Цой Татьяна Григорьевна |
ru_RU |
| dc.contributor.author |
Саха Субир К. |
ru_RU |
| dc.contributor.author |
Сафин Рамиль Набиуллович |
ru_RU |
| dc.contributor.author |
Цой Татьяна Григорьевна |
ru_RU |
| dc.date.accessioned |
2021-01-01T00:00:00Z |
ru_RU |
| dc.date.available |
2021-01-01T00:00:00Z |
ru_RU |
| dc.date.issued |
2021 |
ru_RU |
| dc.identifier.citation |
Tsoy T., Safin R., Magid E. and Saha S.K. Estimation of 4-DoF manipulator optimal configuration for autonomous camera calibration of a mobile robot using on-board templates // The 15th Siberian Conference on Control and Communications (SIBCON 2021) (Kazan, Russia; 13-15 May 2021) (online) - № 9438925. |
ru_RU |
| dc.identifier.uri |
https://repository.kpfu.ru/?p_id=250509 |
ru_RU |
| dc.description.abstract |
2021 International Siberian Conference on Control and Communications (SIBCON) |
ru_RU |
| dc.description.abstract |
Camera calibration is one of the important tasks in the field of robotics and computer vision. It enables to increase the accuracy of metric measurements in photogrammetry applications and provides higher performance in computer vision algorithms such as stereo matching and motion estimation. It is known that regardless of the calibration method used variation of given estimated camera parameters their is inevitable due to multiple reasons: varying weather conditions, temperature fluctuations or severe operation mode of a robotic system. In order to alleviate the aforementioned issues recalibration is required. In this work we employed 4-DoF manipulator Servosila Engineer mobile robotic system equipped with an on-board camera. In order to automate the process of calibration an algorithm is developed which enables to estimate optimal manipulator joint configurations. Forward kinematics is solved on a discretized set of joint angles, subsequently estimating possible camera positions for its further calibration. Experiments on real robot demonstrate the possibility of usage of the developed algorithm to find optimal joint configurations for automatic camera calibration. |
ru_RU |
| dc.language.iso |
ru |
ru_RU |
| dc.subject |
camera calibration |
ru_RU |
| dc.subject |
manipulator |
ru_RU |
| dc.subject |
kinematics |
ru_RU |
| dc.subject |
mobile robot |
ru_RU |
| dc.title |
Estimation of 4-DoF manipulator optimal configuration for autonomous camera calibration of a mobile robot using on-board templates |
ru_RU |
| dc.type |
Тезисы и материалы конференций в зарубежных журналах и сборниках |
ru_RU |
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