Estimation of the position and orientation of the mobile robot using camera calibration

카메라 캘리브레이션을 이용한 이동로봇의 위치 및 자세 추정

  • 정기주 (서울대학교 제어계측공학과, 자동화시스템 공동연구소) ;
  • 최명환 (강원대학교 제어계측공학과) ;
  • 이범희 (서울대학교 제어계측공학과, 자동화시스템 공동연구소) ;
  • 고명삼 (서울대학교 제어계측공학과, 자동화시스템 공동연구소)
  • Published : 1992.10.01

Abstract

When a mobile robot moves from one place to another, position error occurs due to the limit of accuracy of robot and the effect of environmental noise. In this paper. an accurate method of estimating the position and orientation of a mobile robot using the camera calibration is proposed. Kalman filter is used as the estimation algorithm. The uncertainty in the position of camera with repect to robot base frame is considered well as the position error of the robot. Besides developing the mathematical model for mobile robot calibration system, the effect of relative position between camera and calibration points is analyzed and the method to select the most accurate calibration points is also presented.

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