KFU. Card publication. Estimation of 4-DoF manipulator optimal configuration for autonomous camera calibration of a mobile robot using on-board templates

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ESTIMATION OF 4-DOF MANIPULATOR OPTIMAL CONFIGURATION FOR AUTONOMOUS CAMERA CALIBRATION OF A MOBILE ROBOT USING ON-BOARD TEMPLATES

Form of presentation

Articles in Russian journals and collections

Year of publication

2021

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Authors, employees of KFU

Safin Ramil Nabiullovich, author

Coy Tatyana Grigorevna, author

Authors, postgraduates KFU

Safin Ramil Nabiullovich, postgraduate kfu

Bibliographic description in the original language

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.

Annotation

IEEE Siberian Conference on Control and Communications 2021

Keywords

camera calibration, manipulator, kinematics, mobile robot

The name of the journal

IEEE Siberian Conference on Control and Communications 2021

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=254091&p_lang=2

Full metadata record

Field DC	Value	Language
dc.contributor.author	Safin Ramil Nabiullovich	ru_RU
dc.contributor.author	Coy Tatyana Grigorevna	ru_RU
dc.contributor.author	Safin Ramil Nabiullovich	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/eng/?p_id=254091&p_lang=2	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	Articles in Russian journals and collections	ru_RU