| Форма представления | Статьи в российских журналах и сборниках |
| Год публикации | 2021 |
| Язык | английский |
|
Сафин Рамиль Набиуллович, автор
Цой Татьяна Григорьевна, автор
|
|
Сафин Рамиль Набиуллович, автор
|
| Библиографическое описание на языке оригинала |
Tsoy T., Safin R., Magid E., 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 |
IEEE Siberian Conference on Control and Communications 2021 |
| Ключевые слова |
camera calibration, manipulator, kinematics, mobile robot |
| Название журнала |
IEEE Siberian Conference on Control and Communications 2021
|
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=254091 |
Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Сафин Рамиль Набиуллович |
ru_RU |
| dc.contributor.author |
Цой Татьяна Григорьевна |
ru_RU |
| dc.contributor.author |
Сафин Рамиль Набиуллович |
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., 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=254091 |
ru_RU |
| dc.description.abstract |
IEEE Siberian Conference on Control and Communications 2021 |
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 |
Статьи в российских журналах и сборниках |
ru_RU |
|
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